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annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-105851-bad-mouse-round container/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,504 @@
+{
+    "task_description": "将鼠标放入透明盆里\n准备开始移动：0%\n开始接近鼠标：20%\n触碰到鼠标：50%\n将鼠标夹起：75%\n将鼠标移动至透明盆上方：90%\n将爪夹放入透明盆：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹暂未移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.08934760375827758,
+                            "id": "bbox_1766558564578_1766558601265_jq2uvbbll",
+                            "width": 0.10696019306244375,
+                            "x": 0.2203637319218293,
+                            "y": 0.4947289357210035
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.4450197956421901,
+                            "id": "bbox_1766558564770_1766558606312_h8xuaz8x7",
+                            "width": 0.2938183616655081,
+                            "x": 0.6881534919419146,
+                            "y": 0.39679021621673777
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558565866": {
+                    "instances": [
+                        {
+                            "id": "point_1766558565866_1766558609072_bp9fp7n8m",
+                            "x": 0.3956238073012551,
+                            "y": 0.40538133196272597
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558611121_ctlcm2vfm",
+                            "x": 0.49098590714006046,
+                            "y": 0.3692986458295754
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向右侧移动至鼠标上方，向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "",
+            "frame": 58,
+            "progress": 0,
+            "progress_explanation": "爪夹暂未移动，进度0%。",
+            "state_description": "当前状态为爪夹张开。\n为了完成将鼠标放入透明盆中的任务应当：向右侧移动至鼠标上方，向下移动，合拢爪夹。",
+            "time": 1.91746579109589
+        },
+        {
+            "action_description": "爪夹向前移动，然后向下。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.07216537226630114,
+                            "id": "bbox_1766558564578_1766558617027_t4ist60v6",
+                            "width": 0.12886770248487195,
+                            "x": 0.21005431572303954,
+                            "y": 0.5153476135113753
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.39690954746465595,
+                            "id": "bbox_1766558564770_1766558621323_tww7s0mb5",
+                            "width": 0.3170145481127851,
+                            "x": 0.6778440757431248,
+                            "y": 0.43974579494667887
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558565866": {
+                    "instances": [
+                        {
+                            "id": "point_1766558565866_1766558623627_i2hukio4o",
+                            "x": 0.36727291275458335,
+                            "y": 0.5376845144509447
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558625857_99xlc3kn0",
+                            "x": 0.4716557517673296,
+                            "y": 0.5239387292573635
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向右侧移动至鼠标上方，向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹调整角度，成功���始移动。",
+            "frame": 108,
+            "progress": 10,
+            "progress_explanation": "爪夹开始移动，进度10%。",
+            "state_description": "当前状态为爪夹张开，朝向下方。\n为了完成将鼠标放入透明盆中的任务应当：向右侧移动至鼠标上方，向下移动，合拢爪夹。",
+            "time": 3.6
+        },
+        {
+            "action_description": "爪夹向右侧移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.07216537226630114,
+                            "id": "bbox_1766558564578_1766558631527_tq5aog9xb",
+                            "width": 0.09665077686365398,
+                            "x": 0.22165240894667798,
+                            "y": 0.51191116721298
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.402064216912249,
+                            "id": "bbox_1766558564770_1766558637195_jykqdy08d",
+                            "width": 0.3002617467897517,
+                            "x": 0.6958855540910068,
+                            "y": 0.42943645605149305
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹角度正确，成功接近鼠标。",
+            "frame": 155,
+            "progress": 20,
+            "progress_explanation": "爪夹接近鼠标，进度20%。",
+            "state_description": "当前状态为爪夹张开，朝向下方接近鼠标。\n为了完成将鼠标放入透明盆中的任务应当：向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方。",
+            "time": 5.165856008028902
+        },
+        {
+            "action_description": "向下移动，合拢爪夹。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.07388359541549873,
+                            "id": "bbox_1766558564578_1766558645033_ir2jxwxom",
+                            "width": 0.10567151603759503,
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+                            "y": 0.5153476135113753
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.4192464484042254,
+                            "id": "bbox_1766558564770_1766558649528_18du2ta7m",
+                            "width": 0.30412777786429795,
+                            "x": 0.6842874608673684,
+                            "y": 0.4191271171563071
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "夹住鼠标，向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹合拢正确，成功触碰到鼠标。",
+            "frame": 195,
+            "progress": 50,
+            "progress_explanation": "爪夹成功触碰到鼠标，进度50%。",
+            "state_description": "当前状态为爪夹夹住鼠标。\n为了完成将鼠标放入透明盆中的任务应当：向上移动，向左移动至透明盆上方。",
+            "time": 6.485766531139689
+        },
+        {
+            "action_description": "爪夹向上移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.09278405005667285,
+                            "id": "bbox_1766558564578_1766558654433_21wtc9uw1",
+                            "width": 0.15335256595699762,
+                            "x": 0.09407338348665475,
+                            "y": 0.51191116721298
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.4158100021058301,
+                            "id": "bbox_1766558564770_1766558660008_mm2g7edod",
+                            "width": 0.3105711629885414,
+                            "x": 0.6868648149170659,
+                            "y": 0.42084534030550474
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558656180_g9vhvr7f3",
+                            "x": 0.20103357654909848,
+                            "y": 0.5806400931808858
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "夹住鼠标，向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹角度正确，成功夹起鼠标。",
+            "frame": 244,
+            "progress": 60,
+            "progress_explanation": "爪夹将鼠标夹起，进度60%。",
+            "state_description": "当前状态为爪夹将鼠标夹至空中。\n为了完成将鼠标放入透明盆中的任务应当：向上移动，向左移动至透明盆上方。",
+            "time": 8.14703322402051
+        },
+        {
+            "action_description": "爪夹向上移动，向左侧移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.14433074453260228,
+                            "id": "bbox_1766558564578_1766558665984_p41o4g1w6",
+                            "width": 0.15464124298184637,
+                            "x": 0.2744881669654755,
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+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
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+                            "height": 0.402064216912249,
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+                            "width": 0.30541645488914665,
+                            "x": 0.6804214297928222,
+                            "y": 0.43287290234988834
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558668977_683ofauk3",
+                            "x": 0.391757776226709,
+                            "y": 0.5754854237332928
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向左移动至透明盆上方，，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹向左侧移动，成功将鼠标靠近透明盆。",
+            "frame": 282,
+            "progress": 75,
+            "progress_explanation": "爪夹将鼠标靠近透明盆，进度75%。",
+            "state_description": "当前状态为爪夹将鼠标夹至空中，靠近透明盆。\n为了完成将鼠标放入透明盆中的任务应当：向上移动，向左移动至透明盆上方，，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "time": 9.4
+        },
+        {
+            "action_description": "爪夹向左移动，松开爪夹。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.11512095099624228,
+                            "id": "bbox_1766558564578_1766558679112_ctzx60l9y",
+                            "width": 0.12886770248487203,
+                            "x": 0.4858311990406655,
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+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
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+                            "height": 0.4278375641502137,
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+                            "width": 0.3002617467897518,
+                            "x": 0.6842874608673684,
+                            "y": 0.42084534030550474
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558565866": {
+                    "instances": [
+                        {
+                            "id": "point_1766558565866_1766558690754_dlosypvyj",
+                            "x": 0.36727291275458335,
+                            "y": 0.5394027376001422
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+                    ],
+                    "type": "point"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558692680_2bdsegkm2",
+                            "x": 0.5064500314382451,
+                            "y": 0.51191116721298
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹松开错误，导致鼠标没有落入透明盆。",
+            "frame": 317,
+            "progress": 5,
+            "progress_explanation": "爪夹松开鼠标落下，进度5%。",
+            "state_description": "当前状态为爪夹张开，鼠标落在桌面。\n为了完成将鼠标放入透明盆中的任务应当：向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "time": 10.582040568380066
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.11512095099624228,
+                            "id": "bbox_1766558564578_1766558697312_azp820n0s",
+                            "width": 0.1340224105842669,
+                            "x": 0.48067649094127063,
+                            "y": 0.6528054654471869
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.41065533265823717,
+                            "id": "bbox_1766558564770_1766558702351_5iku5vgmp",
+                            "width": 0.3092824859636928,
+                            "x": 0.6791327527679735,
+                            "y": 0.4225635634547024
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方，，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹角度正确，成功接近鼠标。",
+            "frame": 357,
+            "progress": 20,
+            "progress_explanation": "爪夹接近鼠标，进度20%。",
+            "state_description": "当前状态为爪夹张开，朝向下方接近鼠标。\n为了完成将鼠标放入透明盆中的任务应当：向下移动，合拢爪夹，夹住鼠标，向上移动，向左移动至透明盆上方。",
+            "time": 11.901951091490853
+        },
+        {
+            "action_description": "向下移动，合拢爪夹。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.09622049635506814,
+                            "id": "bbox_1766558564578_1766558708215_u54l3ztmr",
+                            "width": 0.12113564033577964,
+                            "x": 0.5167594476370347,
+                            "y": 0.6442143497011987
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.42440111785181833,
+                            "id": "bbox_1766558564770_1766558715679_igww5pvg0",
+                            "width": 0.3054164548891466,
+                            "x": 0.6894421689667632,
+                            "y": 0.4019448856643307
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "向上移动，向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹合拢正确，成功触碰到鼠标。",
+            "frame": 402,
+            "progress": 50,
+            "progress_explanation": "爪夹成功触碰到鼠标，进度50%。",
+            "state_description": "当前状态为爪夹夹住鼠标。\n为了完成将鼠标放入透明盆中的任务应当：向上移动，向左移动至透明盆上方。",
+            "time": 13.40391823847899
+        },
+        {
+            "action_description": "向上移动，向右侧移动。",
+            "annotations": {
+                "bbox_1766558564578": {
+                    "instances": [
+                        {
+                            "height": 0.10481161210105636,
+                            "id": "bbox_1766558564578_1766558720686_egk0fmk6e",
+                            "width": 0.10696019306244373,
+                            "x": 0.02706217819452133,
+                            "y": 0.40538133196272597
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.4192464484042254,
+                            "id": "bbox_1766558564770_1766558724844_n6s29sjh0",
+                            "width": 0.29897306976490307,
+                            "x": 0.6842874608673684,
+                            "y": 0.41569067085791184
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "error_success_analysis": "爪夹角度错误，远离透明盆。",
+            "frame": 449,
+            "progress": -10,
+            "progress_explanation": "爪夹远离透明盆，进度-10%。",
+            "state_description": "当前状态为爪夹将鼠标夹至空中。\n为了完成将鼠标放入透明盆中的任务应当：向左移动至透明盆上方，向下移动，松开爪夹，鼠标落入透明盆中。",
+            "time": 14.974156619421136
+        },
+        {
+            "action_description": "松开爪夹。",
+            "annotations": {
+                "bbox_1766558564770": {
+                    "instances": [
+                        {
+                            "height": 0.41752822525502775,
+                            "id": "bbox_1766558564770_1766558730663_bgtkjqgtr",
+                            "width": 0.289952330590962,
+                            "x": 0.6971742311158555,
+                            "y": 0.4208453403055048
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766558566091": {
+                    "instances": [
+                        {
+                            "id": "point_1766558566091_1766558738318_uqbrdwz3k",
+                            "x": 0.03608291736846237,
+                            "y": 0.535966291301747
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹角度错误，将鼠标落到桌外。",
+            "frame": 490,
+            "progress": -50,
+            "progress_explanation": "鼠标落到桌外，进度-50%。",
+            "state_description": "当前状态为爪夹张开，鼠标落到桌外。",
+            "time": 16.33958129850126
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766558564578",
+            "name": "鼠标"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766558564770",
+            "name": "透明盆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766558565866",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766558566091",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-114435-bad-blue-items-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,306 @@
+{
+    "task_description": "将带着透明袋子的蓝色桌布将其放在透明盆中：\n爪夹准备开始移动：0%\n爪夹接近带着透明袋子的蓝色桌布：20%\n爪夹触碰带着透明袋子的蓝色桌布：50%\n爪夹抓起并移动带着透明袋子的蓝色桌布：75%\n爪夹将带着透明袋子的蓝色桌布移动至透明盆上方：90%\n爪夹松开，带着透明袋子的蓝色桌布落入透明盆中：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹暂未移动。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.3900366548678655,
+                            "id": "bbox_1766567708053_1766567751547_bs2u2hx0l",
+                            "width": 0.331189995386121,
+                            "x": 0.1649506198533343,
+                            "y": 0.45215518290099493
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.40378244006144665,
+                            "id": "bbox_1766567708236_1766567759773_s3c5lh3p2",
+                            "width": 0.2912410076158107,
+                            "x": 0.5489763732582528,
+                            "y": 0.3181337772635786
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766567709070": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709070_1766567761909_xppu0sqbe",
+                            "x": 0.4407275031709603,
+                            "y": 0.3576529096951245
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766567709228": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709228_1766567763996_4is35ahpo",
+                            "x": 0.5412443111091605,
+                            "y": 0.35249824024753157
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向右侧移动至带着透明袋子的蓝色桌布上方，向下移动。合拢爪夹。夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "error_success_analysis": "",
+            "frame": 34,
+            "progress": 0,
+            "progress_explanation": "爪夹暂未移动，进度0%。",
+            "state_description": "当前状态为爪夹张开。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向右侧移动至带着透明袋子的蓝色桌布上方，向下移动。合拢爪夹。",
+            "time": 1.1344994920156741
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.3848819854202726,
+                            "id": "bbox_1766567708053_1766567783451_0g3rrz30v",
+                            "width": 0.36469559803218765,
+                            "x": 0.1430431104309061,
+                            "y": 0.45043695975179726
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.39862777061385374,
+                            "id": "bbox_1766567708236_1766567774772_qcr4ykm9u",
+                            "width": 0.30412777786429784,
+                            "x": 0.5463990192085554,
+                            "y": 0.33016133930796215
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766567709070": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709070_1766567770651_l46umfu63",
+                            "x": 0.4072219005248936,
+                            "y": 0.5140112162721102
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766567709228": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709228_1766567768978_m9t2w0gtg",
+                            "x": 0.5038726773885476,
+                            "y": 0.5277570014656914
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向下移动。合拢爪夹。夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "error_success_analysis": "爪夹调整正确，开始接近带着透明袋子的蓝色桌布。",
+            "frame": 117,
+            "progress": 20,
+            "progress_explanation": "爪夹开始接近带着透明袋子的蓝色桌布，进度20%。",
+            "state_description": "当前状态为爪夹张开，朝向下。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向下移动。合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方。",
+            "time": 3.9120701367688477
+        },
+        {
+            "action_description": "爪夹向下移动，合拢爪夹。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.38831843171866787,
+                            "id": "bbox_1766567708053_1766567789431_13fxejaz4",
+                            "width": 0.35954088993279276,
+                            "x": 0.15077517257999842,
+                            "y": 0.44012762085661145
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.4089371095090396,
+                            "id": "bbox_1766567708236_1766567792499_75o4aa9zr",
+                            "width": 0.3105711629885414,
+                            "x": 0.5438216651588579,
+                            "y": 0.3061062152191951
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766567709070": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709070_1766567794261_3o0nt88fc",
+                            "x": 0.4123766086242885,
+                            "y": 0.5294752246148889
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动，向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "error_success_analysis": "爪夹合拢正确，成功触碰到带着透明袋子的蓝色桌布。",
+            "frame": 222,
+            "progress": 50,
+            "progress_explanation": "爪夹触碰到带着透明袋子的蓝色桌布，进度50%。",
+            "state_description": "当前状态为爪夹合拢，触碰到带着透明袋子的蓝色桌布。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向上移动，向左侧移动至透明盆上方。",
+            "time": 7.39381362103691
+        },
+        {
+            "action_description": "爪夹向上移动。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.5085940521625029,
+                            "id": "bbox_1766567708053_1766567805294_b4admppg4",
+                            "width": 0.19459023075215667,
+                            "x": 0.23067314812061906,
+                            "y": 0.13256567715023293
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.4055006632106443,
+                            "id": "bbox_1766567708236_1766567815203_rozdj3qhx",
+                            "width": 0.28866365356611323,
+                            "x": 0.5541310813576477,
+                            "y": 0.3232884467111716
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "error_success_analysis": "爪夹合拢正确，成功将带着透明袋子的蓝色桌布夹到空中。",
+            "frame": 289,
+            "progress": 75,
+            "progress_explanation": "爪夹将带着透明袋子的蓝色桌布夹至空中，进度75%。",
+            "state_description": "当前状态为爪夹将带着透明袋子的蓝色桌布夹到空中。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向上移动，向左侧移动至透明盆上方。",
+            "time": 9.623694279500722
+        },
+        {
+            "action_description": "爪夹向右侧移动。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.4776660354769453,
+                            "id": "bbox_1766567708053_1766567826266_q6ad5c0s2",
+                            "width": 0.2164977401745849,
+                            "x": 0.0064433457969418125,
+                            "y": 0.024317618750781297
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.39003665486786543,
+                            "id": "bbox_1766567708236_1766567834026_iwcjvnicc",
+                            "width": 0.307993808938844,
+                            "x": 0.5360896030097656,
+                            "y": 0.3370342319047527
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "error_success_analysis": "爪夹向左移动错误。",
+            "frame": 365,
+            "progress": -10,
+            "progress_explanation": "爪夹远离透明盆，进度-10%。",
+            "state_description": "当前状态为爪夹夹着带着透明袋子的蓝色桌布，朝向右侧。\n为了完成将带着透明袋子的蓝色桌布将其放在透明盆中的任务应当：向左侧移动至透明盆上方，松开爪夹，带着透明袋子的蓝色桌布落入透明盆中。",
+            "time": 12.166540644415603
+        },
+        {
+            "action_description": "松开爪夹。",
+            "annotations": {
+                "bbox_1766567708053": {
+                    "instances": [
+                        {
+                            "height": 0.16838586862136917,
+                            "id": "bbox_1766567708053_1766567839018_3lri3xmtj",
+                            "width": 0.1301563795097207,
+                            "x": 0.08247529026301628,
+                            "y": 0.6686512996998982
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766567708236": {
+                    "instances": [
+                        {
+                            "height": 0.40034599376305136,
+                            "id": "bbox_1766567708236_1766567845377_8azoucx8i",
+                            "width": 0.3234579332370287,
+                            "x": 0.5283575408606732,
+                            "y": 0.3250066698603692
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766567709228": {
+                    "instances": [
+                        {
+                            "id": "point_1766567709228_1766567841440_v0399v68f",
+                            "x": 0.17397135902727537,
+                            "y": 0.03806340394436246
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开错误。",
+            "frame": 431,
+            "progress": -50,
+            "progress_explanation": "带着透明袋子的蓝色桌布掉出桌面，进度-50%。",
+            "state_description": "当前状态为爪夹张开，带着透明袋子的蓝色桌布掉出桌面。",
+            "time": 14.357300589573034
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766567708053",
+            "name": "带着透明袋子的蓝色桌布"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766567708236",
+            "name": "透明盆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766567709070",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766567709228",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-143526-mix-white items-white tray/annotations/chunk-000/observation.images.front/episode_000007.json

@@ -0,0 +1,1026 @@
+{
+    "task_description": "将白色物品放入白色托盘\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓住白色物品靠近白色托盘60%\n爪夹将白色物品移入白色托盘80%\n爪夹松开，白色物品落入白色托盘100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4680000000000001,
+                            "id": "bbox_1766997399943_1766997423466_iu1mtbegy",
+                            "width": 0.3,
+                            "x": 0.4425,
+                            "y": 0.45066666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6853333333333335,
+                            "id": "bbox_1766997400248_1766997433155_pk72kto1k",
+                            "width": 0.449,
+                            "x": 0.0235,
+                            "y": 0.26666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997435224_tokpcdya9",
+                            "x": 0.3755,
+                            "y": 0.388
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997436775_3nngxq9ly",
+                            "x": 0.46950000000000003,
+                            "y": 0.36666666666666664
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向左前方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "",
+            "frame": 66,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%",
+            "state_description": "当前状态为初始状态，爪夹张开，远离白色物品，未开始移动。\n为完成将白色物品放入白色托盘的任务应当：爪夹向爪夹左前方移动至白色物品处下降",
+            "time": 2.207
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.3573333333333333,
+                            "id": "bbox_1766997399943_1766997447175_0u3gc4cob",
+                            "width": 0.367,
+                            "x": 0.4325,
+                            "y": 0.5146666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.7253333333333334,
+                            "id": "bbox_1766997400248_1766997460986_5mwnsgtrt",
+                            "width": 0.4680000000000001,
+                            "x": 0.0185,
+                            "y": 0.22933333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997442983_ucma8qg85",
+                            "x": 0.3735,
+                            "y": 0.3093333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997441159_f2qo9lfjf",
+                            "x": 0.48650000000000004,
+                            "y": 0.2653333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向左前方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色��品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抬升方向正确，向白色物品靠近",
+            "frame": 91,
+            "progress": 10,
+            "progress_explanation": "爪夹张开抬升，靠近白色物品但尚未完全靠近，因此进度为10%",
+            "state_description": "当前状态为爪夹张开，尚未抓取白色物品，向白色物品靠近。\n为完成将白色物品放入白色托盘内应当：继续保持爪夹张开，向爪夹方向左前方移动至白色物品后下降",
+            "time": 3.031
+        },
+        {
+            "action_description": "爪夹向爪夹方向左前方移动 ",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.44000000000000006,
+                            "id": "bbox_1766997399943_1766997468436_vkxy0b6jy",
+                            "width": 0.329,
+                            "x": 0.4285,
+                            "y": 0.464
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.696,
+                            "id": "bbox_1766997400248_1766997466005_91nnia5ox",
+                            "width": 0.458,
+                            "x": 0.0165,
+                            "y": 0.272
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997470438_0mf8i6w2k",
+                            "x": 0.5745,
+                            "y": 0.5586666666666668
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997474096_dnbsai86u",
+                            "x": 0.6325000000000001,
+                            "y": 0.544
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹成功向左前方移动并靠近白色物品",
+            "frame": 137,
+            "progress": 20,
+            "progress_explanation": "爪夹已完全靠近白色物品，因此进度提升为40%",
+            "state_description": "当前状态为爪夹张开，已完全靠近白色物品。\n为完成将白色物品放入白色托盘的任务应当：合拢爪夹，抓取白色物品后抬升并移动",
+            "time": 4.562
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4653333333333334,
+                            "id": "bbox_1766997399943_1766997481288_xmzy9bx0g",
+                            "width": 0.329,
+                            "x": 0.43550000000000005,
+                            "y": 0.44933333333333336
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6893333333333334,
+                            "id": "bbox_1766997400248_1766997484057_y1fwyktmg",
+                            "width": 0.483,
+                            "x": 0.0225,
+                            "y": 0.2653333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开爪夹右方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抓取位置不准确，这导致抓取失败",
+            "frame": 166,
+            "progress": 10,
+            "progress_explanation": "爪夹靠近白色物品，但抓取失败，因此进度降低至10%",
+            "state_description": "当前状态为爪夹合拢，但未夹取白色物品。\n为完成将白色物品放入白色托盘中的任务应当：张开爪夹，向右移动至白色物品处",
+            "time": 5.533
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.43600000000000005,
+                            "id": "bbox_1766997399943_1766997492204_0shfchpc1",
+                            "width": 0.30600000000000005,
+                            "x": 0.4455,
+                            "y": 0.4453333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.7080000000000001,
+                            "id": "bbox_1766997400248_1766997489944_h401wldgx",
+                            "width": 0.47300000000000003,
+                            "x": 0.0125,
+                            "y": 0.24400000000000002
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997494397_e3jgi6yb5",
+                            "x": 0.6935,
+                            "y": 0.20266666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997496500_i4plnuaiv",
+                            "x": 0.7135,
+                            "y": 0.19866666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，向右下方移动至白色物品处，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹未抓取白色物品提前抬升",
+            "frame": 211,
+            "progress": -5,
+            "progress_explanation": "爪夹并未抓取白色物品就抬升，并且爪夹状态变为合拢，因此进度降低至-5%",
+            "state_description": "当前状态为爪夹合拢，但未抓取白色物品。\n为完成将白色物品放入白色托盘的任务应当：张开爪夹，向爪夹方向右前方移动至白色物品处下降",
+            "time": 7.034
+        },
+        {
+            "action_description": "爪夹向爪夹方向下方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4746666666666667,
+                            "id": "bbox_1766997399943_1766997506816_ptkpkwy9i",
+                            "width": 0.29100000000000004,
+                            "x": 0.4495,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.692,
+                            "id": "bbox_1766997400248_1766997504657_t7pjjpc3f",
+                            "width": 0.471,
+                            "x": 0.0175,
+                            "y": 0.2653333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向右方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹张开，移动方向正确",
+            "frame": 274,
+            "progress": 10,
+            "progress_explanation": "爪夹向白色物品靠近，但为完全靠近，因此进度小幅提升至10%",
+            "state_description": "当前状态为爪夹张开，靠近白色物品，但未完全靠近。\n为完成将白色物品放入白色托盘的任务应当：保持爪夹张开，向右移动至白色物品处",
+            "time": 9.124
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.512,
+                            "id": "bbox_1766997399943_1766997510240_byx2irmmv",
+                            "width": 0.325,
+                            "x": 0.44750000000000006,
+                            "y": 0.4186666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.7053333333333334,
+                            "id": "bbox_1766997400248_1766997513705_7dawroigk",
+                            "width": 0.449,
+                            "x": 0.0215,
+                            "y": 0.256
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开爪夹，向右下方移动并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抓取物品错误",
+            "frame": 294,
+            "progress": -10,
+            "progress_explanation": "爪夹抓取错误物品，因此进度降低至-10%",
+            "state_description": "当前状态为爪夹合拢，抓取黑色物品，白色物品未被夹取。\n为完成将白色物品放入托盘的任务应当：张开爪夹，向爪夹右下方移动至白色物品处",
+            "time": 9.801
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4573333333333334,
+                            "id": "bbox_1766997399943_1766997527396_h8gygasf2",
+                            "width": 0.333,
+                            "x": 0.4345,
+                            "y": 0.428
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.7053333333333333,
+                            "id": "bbox_1766997400248_1766997519022_b9bsbf2fa",
+                            "width": 0.44299999999999995,
+                            "x": 0.0245,
+                            "y": 0.252
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997522409_cxwsa1nfk",
+                            "x": 0.8554999999999999,
+                            "y": 0.23600000000000002
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，向右下方移动并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抓紧错误的物品，并且抬升远离了白色物品",
+            "frame": 328,
+            "progress": -20,
+            "progress_explanation": "爪夹抓取了错误的物品，并且抬升远离了白色物品，因此进度进一步降低至-20%",
+            "state_description": "当前状态为爪夹合拢，抓紧黑色物品，白色物品未被抓取。\n为完成将白色物品放入白色托盘的任务应当：张开爪夹，向右下方移动至白色物品处下降",
+            "time": 10.919
+        },
+        {
+            "action_description": "爪夹由合拢变为张开",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4746666666666667,
+                            "id": "bbox_1766997399943_1766997530660_r9z8kf3al",
+                            "width": 0.2899999999999999,
+                            "x": 0.4485,
+                            "y": 0.42
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6920000000000001,
+                            "id": "bbox_1766997400248_1766997534948_4px6i0h5o",
+                            "width": 0.45,
+                            "x": 0.0345,
+                            "y": 0.2546666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997536735_ybte8sdle",
+                            "x": 0.8345,
+                            "y": 0.2773333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹张开向右下方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹张开，丢弃错误物品，",
+            "frame": 365,
+            "progress": 10,
+            "progress_explanation": "爪夹已张开，并且距初始状态相比接近白色物品，即将靠近白色物品，因此进度提升至10%",
+            "state_description": "当前状态为爪夹张开，准备向白色物品靠近。\n为完成将白色物品放入白色托盘的任务应当：保持爪夹张开，向爪夹右下方移动至白色物品后下降 ",
+            "time": 12.155
+        },
+        {
+            "action_description": "爪夹向爪夹方向右下方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4213333333333333,
+                            "id": "bbox_1766997399943_1766997548040_4acjl73vv",
+                            "width": 0.30600000000000005,
+                            "x": 0.4415,
+                            "y": 0.4693333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.712,
+                            "id": "bbox_1766997400248_1766997545779_9soabat5h",
+                            "width": 0.44400000000000006,
+                            "x": 0.0305,
+                            "y": 0.24133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997540281_8iv0bvr1m",
+                            "x": 0.6115,
+                            "y": 0.49333333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997542271_iufgxvzou",
+                            "x": 0.6555,
+                            "y": 0.45466666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向右移动，直至完全靠近白色物品之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹向右下方移动正确，接近白色物品",
+            "frame": 402,
+            "progress": 18,
+            "progress_explanation": "爪夹靠近白色物品，极其但尚未完全接近，因此进度提升至18%",
+            "state_description": "当前状态为爪夹张开，靠近白色物品，及其但尚未完全接近。\n为完成将白色物品放入白色托盘内应当：继续向右下移动，直至完全接近白色物品",
+            "time": 13.392
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4573333333333334,
+                            "id": "bbox_1766997399943_1766997552396_xftgeb7ei",
+                            "width": 0.29400000000000004,
+                            "x": 0.4455,
+                            "y": 0.4453333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6826666666666666,
+                            "id": "bbox_1766997400248_1766997556032_kdwwns7cz",
+                            "width": 0.457,
+                            "x": 0.0175,
+                            "y": 0.26266666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997557920_hvpzqxx3s",
+                            "x": 0.6255,
+                            "y": 0.504
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997559760_kk71nvvfl",
+                            "x": 0.6415,
+                            "y": 0.516
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪机向右下移动降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹尚未移动至正确位置提前抓取",
+            "frame": 431,
+            "progress": 10,
+            "progress_explanation": "爪夹距离白色物品距离未变，但状态变为合拢，因此进度降低至10%",
+            "state_description": "当前状态为爪夹合拢，但未抓取白色物品。\n为完成将白色物品放入白色托盘的任务应当：张开爪夹，向右下方移动靠近白色物品",
+            "time": 14.363
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4546666666666666,
+                            "id": "bbox_1766997399943_1766997571648_5thbje7nu",
+                            "width": 0.28900000000000003,
+                            "x": 0.4505,
+                            "y": 0.45733333333333337
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6866666666666668,
+                            "id": "bbox_1766997400248_1766997569388_jbfjy722k",
+                            "width": 0.458,
+                            "x": 0.027500000000000004,
+                            "y": 0.272
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997565903_1oe4w06lm",
+                            "x": 0.5965,
+                            "y": 0.35866666666666663
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997564093_la13f9esk",
+                            "x": 0.6745,
+                            "y": 0.3546666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹张开向右下方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹并未抓取白色物品，提前抬升",
+            "frame": 482,
+            "progress": -20,
+            "progress_explanation": "爪机远离了白色物品因此进度降低至-20%",
+            "state_description": "当前状态为爪夹张开，。\n为完成将白色物品放入白色托盘的任务应当：保持爪夹张开，向右下方移动靠近白色物品",
+            "time": 16.054363636363636
+        },
+        {
+            "action_description": "爪夹向爪夹方向下方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.43866666666666665,
+                            "id": "bbox_1766997399943_1766997575735_82xf6epve",
+                            "width": 0.31500000000000006,
+                            "x": 0.4345,
+                            "y": 0.47600000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.64,
+                            "id": "bbox_1766997400248_1766997578224_7bpa37jz5",
+                            "width": 0.449,
+                            "x": 0.0195,
+                            "y": 0.29333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997579779_u77c6246k",
+                            "x": 0.5445,
+                            "y": 0.6266666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997581291_enrk5pb87",
+                            "x": 0.6035,
+                            "y": 0.5906666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹移动方向正确，成功靠近白色物品",
+            "frame": 543,
+            "progress": 20,
+            "progress_explanation": "爪夹已完全靠近白色物品，因此进度提升至20%",
+            "state_description": "当前状态为爪夹张开，靠近白色物品，尚未夹取。\n为完成将白色物品放入白色托盘的任务应当：合拢爪夹，夹取白色物品后抬升并移动",
+            "time": 18.101
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4213333333333333,
+                            "id": "bbox_1766997399943_1766997591460_ybebxn609",
+                            "width": 0.31700000000000006,
+                            "x": 0.4345,
+                            "y": 0.4693333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6813333333333333,
+                            "id": "bbox_1766997400248_1766997589363_v3z1azs4x",
+                            "width": 0.45699999999999996,
+                            "x": 0.027500000000000004,
+                            "y": 0.2786666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997586536_qqkb0a7ie",
+                            "x": 0.5405,
+                            "y": 0.5933333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹，重新抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抓取白色物品失败，",
+            "frame": 566,
+            "progress": 10,
+            "progress_explanation": "爪夹虽完全接近白色物品，但状态变为合拢，需重新抓取，因此进度降低为10%",
+            "state_description": "当前状态为爪夹合拢，但未夹取白色物品。\n为完成将白色物品放入托盘中的任务应当：张开爪夹，重新夹取白色物品，之后抬升并移动",
+            "time": 18.85750649350649
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.42933333333333334,
+                            "id": "bbox_1766997399943_1766997595792_30mxg0eu1",
+                            "width": 0.308,
+                            "x": 0.3945,
+                            "y": 0.4066666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.672,
+                            "id": "bbox_1766997400248_1766997598355_c0u6ms9iu",
+                            "width": 0.4630000000000001,
+                            "x": 0.0225,
+                            "y": 0.2826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997600000_v5cl14x2r",
+                            "x": 0.6485000000000001,
+                            "y": 0.43200000000000005
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997401335": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401335_1766997601631_41j8g3vkc",
+                            "x": 0.6655,
+                            "y": 0.42933333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开并向右下方移动至白色物品处，下降并靠近白色物品，之后抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹抓取白色物品失败提前抬升",
+            "frame": 618,
+            "progress": -20,
+            "progress_explanation": "爪夹合拢并且远离了白色物品，因此进度降低至-20%",
+            "state_description": "当前状态为爪夹合拢，尚未抓取白色物品。\n为完成将白色物品放入白色托盘中的任务应当：张开爪夹，向右下方移动至白色物品处",
+            "time": 20.603
+        },
+        {
+            "action_description": "爪夹向爪夹方向右下方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4573333333333333,
+                            "id": "bbox_1766997399943_1766997617483_d42vfxs40",
+                            "width": 0.2779999999999999,
+                            "x": 0.41450000000000004,
+                            "y": 0.4093333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.72,
+                            "id": "bbox_1766997400248_1766997611568_p3h94q8zd",
+                            "width": 0.44699999999999995,
+                            "x": 0.0235,
+                            "y": 0.24266666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓取白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹移动方向正确，完全靠近白色物品",
+            "frame": 677,
+            "progress": 20,
+            "progress_explanation": "爪夹完全靠近白色物品，因此进度提升至20%",
+            "state_description": "当前状态为爪夹张开，靠近白色物品。\n为完成将白色物品放入白色托盘中的任务应当：合拢爪夹，抓取白色物品后抬升并移动",
+            "time": 22.552558441558443
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4426666666666667,
+                            "id": "bbox_1766997399943_1766997622403_v2tw2ck5g",
+                            "width": 0.266,
+                            "x": 0.40049999999999997,
+                            "y": 0.404
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6786666666666666,
+                            "id": "bbox_1766997400248_1766997625323_e5j86gc8z",
+                            "width": 0.45200000000000007,
+                            "x": 0.025500000000000002,
+                            "y": 0.2813333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997627204_prvfpkkiy",
+                            "x": 0.5665,
+                            "y": 0.588
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹合拢，抓紧白色物品抬升并向右后方移动，靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹成功合拢，抓取白色物品成功",
+            "frame": 717,
+            "progress": 40,
+            "progress_explanation": "白色物品已被抓取成功，因此进度提升至40%",
+            "state_description": "当前状态为爪夹合拢，抓取白色物品，白色��品已被抓取。\n为完成将白色物品放入白色托盘在的任务应当：保持爪夹合拢，抬升并向右移动至白色托盘位置",
+            "time": 23.899
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.4413333333333334,
+                            "id": "bbox_1766997399943_1766997665875_otksmw4t9",
+                            "width": 0.28,
+                            "x": 0.3815,
+                            "y": 0.312
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.7386666666666667,
+                            "id": "bbox_1766997400248_1766997658272_k03q00i9d",
+                            "width": 0.44200000000000006,
+                            "x": 0.0305,
+                            "y": 0.21600000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997630147_6w0x4fx5w",
+                            "x": 0.5155000000000001,
+                            "y": 0.41466666666666663
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续保持爪夹合拢，向右移动靠近白色托盘后下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹保持合拢，抓取白色物品成功使白色物品抬升并移动",
+            "frame": 751,
+            "progress": 50,
+            "progress_explanation": "爪夹抓取白色物品成功并抬升，但还未完全靠近白色托盘，因此进度提升至50%",
+            "state_description": "当前状态为爪夹合拢，抓紧白色物品，白色物品已被抬升至空中。\n为完成将白色物品放入白色托盘的任务应当：继续保持爪夹合拢，，向右移动至白色托盘位置下降",
+            "time": 25.018
+        },
+        {
+            "action_description": "爪夹向爪夹方向右方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.38266666666666665,
+                            "id": "bbox_1766997399943_1766997696271_iruy9pjbo",
+                            "width": 0.19599999999999998,
+                            "x": 0.1255,
+                            "y": 0.45066666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6960000000000001,
+                            "id": "bbox_1766997400248_1766997699035_7doxdd7cx",
+                            "width": 0.4630000000000001,
+                            "x": 0.0185,
+                            "y": 0.256
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹保持合拢状态下降，使白色物品进入白色托盘内松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪机保持合拢，抓取白色物品成功移动至托盘范围",
+            "frame": 775,
+            "progress": 60,
+            "progress_explanation": "白色物品完全靠近托盘，因此进度提升至60%",
+            "state_description": "当前状态为爪夹合拢，抓紧白色物品，白色物品已靠近托盘。\n为完成将白色物品放入白色托盘的任务应当：爪夹保持合拢状态并下降，至白色物品进入托盘内松开爪夹",
+            "time": 25.842
+        },
+        {
+            "action_description": "爪夹向爪夹方向下方移动",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.35866666666666663,
+                            "id": "bbox_1766997399943_1766997709011_1zciw77f6",
+                            "width": 0.18600000000000003,
+                            "x": 0.1545,
+                            "y": 0.524
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6906666666666667,
+                            "id": "bbox_1766997400248_1766997705707_8scxccq3g",
+                            "width": 0.495,
+                            "x": 0.0235,
+                            "y": 0.26666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开爪夹，使白色物品落入白色托盘",
+            "error_success_analysis": "爪夹保持合拢，成功将白色物品移入托盘",
+            "frame": 804,
+            "progress": 80,
+            "progress_explanation": "白色物品已被移入白色托盘，因此进度提升至80%",
+            "state_description": "当前状态为爪夹合拢，抓紧白色物品，白色物品已被移入白色托盘。\n为完成将白色物品移入白色托盘的任务应当：张开爪夹，使白色物品落入白色托盘",
+            "time": 26.813
+        },
+        {
+            "action_description": "爪夹由合拢变为张开",
+            "annotations": {
+                "bbox_1766997399943": {
+                    "instances": [
+                        {
+                            "height": 0.43466666666666665,
+                            "id": "bbox_1766997399943_1766997713938_g46xxpx2v",
+                            "width": 0.277,
+                            "x": 0.1085,
+                            "y": 0.43200000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997400248": {
+                    "instances": [
+                        {
+                            "height": 0.6880000000000001,
+                            "id": "bbox_1766997400248_1766997716799_0c0qo46zv",
+                            "width": 0.47700000000000004,
+                            "x": 0.0205,
+                            "y": 0.2733333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997401107": {
+                    "instances": [
+                        {
+                            "id": "point_1766997401107_1766997718371_9ghzrb0lw",
+                            "x": 0.2205,
+                            "y": 0.5973333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "白色物品已被放入白色托盘，任务完成无需后续动作",
+            "error_success_analysis": "爪夹成功张开使白色物品落入了白色托盘",
+            "frame": 834,
+            "progress": 100,
+            "progress_explanation": "白色物品已被放入白色托盘，任务完成，因此进度提升至100%",
+            "state_description": "当前状态为爪夹张开，白色物品已被放入白色托盘，任务已完成",
+            "time": 27.784
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766997399943",
+            "name": "白色物品"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766997400248",
+            "name": "白色托盘"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766997401107",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766997401335",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-150113-bad-white items-white tray/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,358 @@
+{
+    "task_description": "将白色物品放入白色托盘\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓住白色物品靠近白色托盘60%\n爪夹将白色物品移入白色托盘80%\n爪夹松开，白色物品落入白色托盘100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动 ",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.504,
+                            "id": "bbox_1766997735787_1766997763700_8dytw1wgp",
+                            "width": 0.6559999999999999,
+                            "x": 0.1585,
+                            "y": 0.4653333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.3373333333333334,
+                            "id": "bbox_1766997735987_1766997767179_fogewe0z5",
+                            "width": 0.258,
+                            "x": 0.0615,
+                            "y": 0.26666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997736699": {
+                    "instances": [
+                        {
+                            "id": "point_1766997736699_1766997769119_4ptiq0749",
+                            "x": 0.42350000000000004,
+                            "y": 0.3813333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997736851": {
+                    "instances": [
+                        {
+                            "id": "point_1766997736851_1766997770744_5ecayfs4n",
+                            "x": 0.5305,
+                            "y": 0.3466666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向右后方移动至白色物品处，下降并抓取白色物品，抓取白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "",
+            "frame": 48,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%",
+            "state_description": "当前状态为初始状态，爪夹张开，远离白色物品，未开始移动。\n为完成将白色物品放入白色托盘的任务应当：爪夹向爪夹方向右后方移动至白色物品处下降抓取白色物品",
+            "time": 1.5900551546391755
+        },
+        {
+            "action_description": "爪夹向上抬升并向前移动",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.3840000000000001,
+                            "id": "bbox_1766997735787_1766997778851_bgdtumqvs",
+                            "width": 0.248,
+                            "x": 0.06649999999999999,
+                            "y": 0.24000000000000002
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.48000000000000015,
+                            "id": "bbox_1766997735987_1766997782091_jxp04h9cv",
+                            "width": 0.6779999999999999,
+                            "x": 0.12050000000000001,
+                            "y": 0.48399999999999993
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766997736699": {
+                    "instances": [
+                        {
+                            "id": "point_1766997736699_1766997775491_vz10qmffz",
+                            "x": 0.4415,
+                            "y": 0.37733333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766997736851": {
+                    "instances": [
+                        {
+                            "id": "point_1766997736851_1766997773535_zcpw60otx",
+                            "x": 0.5725,
+                            "y": 0.33866666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续保持爪夹张开向爪夹方向右后方移动至白色物品处，下降并抓取白色物品，抓���白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹保持张开成功抬升并向前移动",
+            "frame": 85,
+            "progress": 10,
+            "progress_explanation": "爪夹抬升并向前移动，即将向白色物品靠近，因此进度小幅提升至10%",
+            "state_description": "爪夹张开，位于白色物品的左前方\n为完成将白色物品放入托盘的任务应当：保持爪夹张开状态向右后方移动至白色物品处下降",
+            "time": 2.826
+        },
+        {
+            "action_description": "爪夹继续调整角度使爪夹竖直向下并向下抓取",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.38533333333333336,
+                            "id": "bbox_1766997735787_1766997788676_h36k8gs98",
+                            "width": 0.251,
+                            "x": 0.06449999999999999,
+                            "y": 0.24133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.49199999999999994,
+                            "id": "bbox_1766997735987_1766997785771_y6umt1ril",
+                            "width": 0.675,
+                            "x": 0.12350000000000001,
+                            "y": 0.4746666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开并抬升爪夹向爪夹方向右后方移动至白色物品处，下降并抓取白色物品，抓取白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹没有继续向右后方移动到白色物品的上方",
+            "frame": 133,
+            "progress": -10,
+            "progress_explanation": "爪夹未向白色物品靠近，并且状态变为合拢，因此进度降低至-10%",
+            "state_description": "当前状态为爪夹合拢，未抓取白色物品。\n为完成将白色物品放入白色盘中的任务应当：张开抬升爪夹，向右后方移动至白色物品处下降",
+            "time": 4.446
+        },
+        {
+            "action_description": "爪夹向左移动",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.38533333333333325,
+                            "id": "bbox_1766997735787_1766997792524_uv2v5s2w5",
+                            "width": 0.25599999999999995,
+                            "x": 0.06749999999999999,
+                            "y": 0.24000000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.48666666666666664,
+                            "id": "bbox_1766997735987_1766997795772_x97sgsncr",
+                            "width": 0.675,
+                            "x": 0.12250000000000001,
+                            "y": 0.48000000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开并抬升爪夹向爪夹方向右后方移动至白色物品处，下降并抓取白色物品，抓取白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹向右侧移动，远离了白色物品",
+            "frame": 230,
+            "progress": -20,
+            "progress_explanation": "白色物品未被抓取，且爪夹向远离白色物品的左侧移动，因此进度再次降低至-20%",
+            "state_description": "当前状态为爪夹合拢，未抓取白色物品。\n为完成将白色物品放入白色托盘中的任务应当：张开并抬升爪夹，向爪夹右后方移动至白色物品处后下降。",
+            "time": 7.666020103092784
+        },
+        {
+            "time": 8.874,
+            "frame": 266,
+            "progress": -10,
+            "action_description": "爪夹爪夹方向右方移动",
+            "state_description": "当前状态为爪夹合拢，位于白色物品右侧。\n为完成将白色物品放入白色托盘内的任务应当：张开爪夹，抬升并向爪���方向右方移动，移动至白色物品处下降",
+            "progress_explanation": "爪夹仍是合拢状态，但距白色物品位置接近了一些，因此进度提升至-10",
+            "error_success_analysis": "爪夹移动方向错误，应张开爪夹后抬升",
+            "correction_plan": "张开爪夹，向上抬升，之后向爪夹方向右方移动，移动至白色物品处下降，下降至白色物品处合拢爪夹，抓取白色物品后抬升，之后向爪夹方向左前方移动至白色托盘处，下降并张开爪夹，使白色物品落入白色托盘",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766997735787_1767082933667_5g9oca8xa",
+                            "x": 0.0655,
+                            "y": 0.26666666666666666,
+                            "width": 0.233,
+                            "height": 0.3506666666666666
+                        }
+                    ]
+                },
+                "bbox_1766997735987": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766997735987_1767082938605_gi5ew5fs5",
+                            "x": 0.1255,
+                            "y": 0.4746666666666667,
+                            "width": 0.6799999999999999,
+                            "height": 0.492
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右移动",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.39466666666666667,
+                            "id": "bbox_1766997735787_1766997802896_yn37hwy14",
+                            "width": 0.264,
+                            "x": 0.0655,
+                            "y": 0.23600000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.48000000000000004,
+                            "id": "bbox_1766997735987_1766997799992_xqqedo2mw",
+                            "width": 0.6789999999999999,
+                            "x": 0.11950000000000001,
+                            "y": 0.48400000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹张开向右方移动至白色物品处，抓取白色物品，抓取白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "爪夹向右后方向移动靠近白色物品",
+            "frame": 310,
+            "progress": 10,
+            "progress_explanation": "爪夹向右移动靠近了白色物品，但为完全靠近且爪夹状态为合拢状态，因此进度小幅提升至10",
+            "state_description": "当前状态为爪夹合拢，尚未抓取白色物品。\n为完成将白色物品放入白色托盘的任务应当：张开爪夹，向右移动至白色物品处抓取白色物品",
+            "time": 10.348682989690722
+        },
+        {
+            "time": 11.735,
+            "frame": 352,
+            "progress": -10,
+            "action_description": "爪夹向爪夹方向下方移动",
+            "state_description": "当前状态为爪夹合拢，位于白色物品右侧。\n为完成将白色物品放入白色托盘内的任务应当：张开爪夹，抬升并向爪夹方向右方移动，移动至白色物品处下降",
+            "progress_explanation": "爪夹仍是合拢状态，但距白色物品位置更远了一些，因此进度降低至-10%",
+            "error_success_analysis": "爪夹移动方向错误，应张开爪夹后向右移动",
+            "correction_plan": "张开爪夹，向上抬升，之后向爪夹方向右方移动，移动至白色物品处下降，下降至白色物品处合拢爪夹，抓取白色物品后抬升，之后向爪夹方向左前方移动至白色托盘处，下降并张开爪夹，使白色物品落入白色托盘",
+            "annotations": {
+                "bbox_1766997735987": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766997735987_1767082916378_9bts0r0ka",
+                            "x": 0.12249999999999998,
+                            "y": 0.4853333333333333,
+                            "width": 0.676,
+                            "height": 0.48800000000000004
+                        }
+                    ]
+                },
+                "bbox_1766997735787": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766997735787_1767082928427_cxchjaufa",
+                            "x": 0.0715,
+                            "y": 0.23466666666666666,
+                            "width": 0.22800000000000004,
+                            "height": 0.37866666666666676
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右移动",
+            "annotations": {
+                "bbox_1766997735787": {
+                    "instances": [
+                        {
+                            "height": 0.38133333333333336,
+                            "id": "bbox_1766997735787_1766997806067_mid8vsb3v",
+                            "width": 0.257,
+                            "x": 0.0685,
+                            "y": 0.24533333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766997735987": {
+                    "instances": [
+                        {
+                            "height": 0.48266666666666674,
+                            "id": "bbox_1766997735987_1766997808983_1qkbx8bnj",
+                            "width": 0.674,
+                            "x": 0.12150000000000002,
+                            "y": 0.48133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开并抬升爪夹向爪夹方向右后方移动至白色物品处，下降并抓取白色物品，抓取白色物品后保持爪夹合拢，抬升并向左前方移动至白色托盘处，下降将白色物品移入白色托盘，松开爪夹，使白色物品落入白色托盘内",
+            "error_success_analysis": "白色物品未被抓取，且爪夹进一步远离白色物品，因此进度再次降低至-20%",
+            "frame": 427,
+            "progress": -20,
+            "progress_explanation": "爪夹远离白色物品，因此进度降低至-20%",
+            "state_description": "当前状态为爪夹合拢，尚未抓取白色物品。\n为完成将白色物品放入盘中的任务应当：张开爪夹，向右移动至白色物品处抓取白色物品。",
+            "time": 14.248930735930736
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766997735787",
+            "name": "白色物品"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766997735987",
+            "name": "白色托盘"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766997736699",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766997736851",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-150926-good-white items-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,402 @@
+{
+    "task_description": "捡起白色物品并放入电饭煲的内胆中。\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓取白色物品接近电饭煲的内胆60%\n爪夹将白色物品放入电饭煲的内胆80%\n爪夹松开，白色物品落入电饭煲的内胆100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.3480000000000001,
+                            "id": "bbox_1766562839603_1766562982709_p49pd1auy",
+                            "width": 0.325,
+                            "x": 0.17350000000000002,
+                            "y": 0.2653333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3106666666666667,
+                            "id": "bbox_1766562948111_1766562996554_zcrp448dk",
+                            "width": 0.22899999999999995,
+                            "x": 0.2755,
+                            "y": 0.6026666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563005314_wrignilk9",
+                            "x": 0.4035,
+                            "y": 0.37866666666666665
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563008235_axt7pw2ov",
+                            "x": 0.4455,
+                            "y": 0.38266666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的前方移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的前方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "",
+            "frame": 56,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%",
+            "state_description": "爪夹保持打开状态，暂未移动\n爪夹当前处于打开状态，没有移动和白色物品。\n为了完成捡起白色物品并放入电饭煲的内胆中的任务应该：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的前方移动至白色物品的侧边，方便抓取白色物品",
+            "time": 1.8666666666666667
+        },
+        {
+            "action_description": "爪夹向上抬升并向前移动，略微调整爪夹与桌面的角度",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.3706666666666667,
+                            "id": "bbox_1766562839603_1766563070506_i5fiahsmr",
+                            "width": 0.326,
+                            "x": 0.17250000000000001,
+                            "y": 0.252
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3120000000000001,
+                            "id": "bbox_1766562948111_1766563091263_bqy77nipd",
+                            "width": 0.22899999999999995,
+                            "x": 0.2765,
+                            "y": 0.6013333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563059044_a9c5216z4",
+                            "x": 0.3645,
+                            "y": 0.39333333333333337
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563062125_1ynj2zwmk",
+                            "x": 0.4085,
+                            "y": 0.39466666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面，然后继续向爪夹方向的前方移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的前方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹向前朝白色物品移动，爪夹角度略微向下调整",
+            "frame": 95,
+            "progress": 10,
+            "progress_explanation": "爪夹向前移动到白色物品上方，进度提升为10%",
+            "state_description": "白色物品位于爪夹正下方，前方为电饭煲的内胆\n为完成捡起白色物品并放入电饭煲的内胆中的任务：爪夹继续调整角度，使其垂直于桌面，然后向爪夹方向的前方移动至白色物品的侧边",
+            "time": 3.1666666666666665
+        },
+        {
+            "action_description": "爪夹调整角度垂直于桌面，并移动至白色物品的边缘上方",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.36933333333333335,
+                            "id": "bbox_1766562839603_1766563117591_i46ljfr0s",
+                            "width": 0.31199999999999994,
+                            "x": 0.17250000000000001,
+                            "y": 0.24666666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3120000000000001,
+                            "id": "bbox_1766562948111_1766563135853_lm5fttp61",
+                            "width": 0.23199999999999998,
+                            "x": 0.27349999999999997,
+                            "y": 0.6013333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563150727_555fhla2o",
+                            "x": 0.34550000000000003,
+                            "y": 0.4453333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563109679_y8kzq7rp3",
+                            "x": 0.4285,
+                            "y": 0.49333333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的前方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹向下向前移动并调整爪夹角度垂直桌面",
+            "frame": 160,
+            "progress": 20,
+            "progress_explanation": "爪夹在白色物品的上方方便夹取，进度提升为20%",
+            "state_description": "爪夹打开，白色物品的侧边在爪夹中间\n为完成捡起白色物品并放入电饭煲的内胆中的任务：爪夹向下移动准备做抓取白色物品的动作",
+            "time": 5.339140787113401
+        },
+        {
+            "action_description": "爪夹向下移动接触白色物品后开始闭合，夹取白色物品",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.36266666666666675,
+                            "id": "bbox_1766562839603_1766563162385_65o4c7p2g",
+                            "width": 0.324,
+                            "x": 0.1545,
+                            "y": 0.24000000000000002
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+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3146666666666666,
+                            "id": "bbox_1766562948111_1766563179082_tgtdsrte5",
+                            "width": 0.23099999999999996,
+                            "x": 0.2735,
+                            "y": 0.6000000000000001
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+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓取后向上抬升并向爪夹的前方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹闭合成功夹取白色物品",
+            "frame": 248,
+            "progress": 40,
+            "progress_explanation": "爪夹成功抓取白色物品，进度提升至40%",
+            "state_description": "爪夹闭合抓取白色物品\n为完成捡起白色物品并放入电饭煲的内胆中的任务：抓取白色物品的爪夹向上抬升后向爪夹的前方移动至电饭煲内胆正上方",
+            "time": 8.266666666666667
+        },
+        {
+            "action_description": "夹取白色物品的爪夹向上提升并向前朝电饭煲内胆的方向移动",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.5159999999999999,
+                            "id": "bbox_1766562839603_1766563202026_s97epusfw",
+                            "width": 0.475,
+                            "x": 0.0835,
+                            "y": 0.14933333333333337
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3133333333333334,
+                            "id": "bbox_1766562948111_1766563223991_oyi1husxm",
+                            "width": 0.233,
+                            "x": 0.2745,
+                            "y": 0.6026666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563231761_8ypqryj9s",
+                            "x": 0.3645,
+                            "y": 0.23333333333333334
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+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563234171_56wpqqnib",
+                            "x": 0.3915,
+                            "y": 0.24666666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向前方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹夹取白色物品提升后向前方的电饭煲内胆上方移动",
+            "frame": 309,
+            "progress": 60,
+            "progress_explanation": "爪夹抓取白色物品向前移动接近电饭煲的内胆进度提升为60%",
+            "state_description": "爪夹闭合夹取白色物品在电饭煲内胆的后方\n为完成捡起白色物品并放入电饭煲的内胆中的任务：抓取白色物品的爪夹继续向前移动至电饭煲内胆的正上方",
+            "time": 10.3
+        },
+        {
+            "action_description": "爪夹下落，夹取的白色物品进入电饭煲内胆",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.32533333333333336,
+                            "id": "bbox_1766562839603_1766563244687_9766r4z5q",
+                            "width": 0.16,
+                            "x": 0.2445,
+                            "y": 0.6506666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3293333333333333,
+                            "id": "bbox_1766562948111_1766563258119_uyw7tgzev",
+                            "width": 0.236,
+                            "x": 0.2515,
+                            "y": 0.6306666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563270127_2bsw09g96",
+                            "x": 0.3435,
+                            "y": 0.7493333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563272367_gvwabka4k",
+                            "x": 0.36150000000000004,
+                            "y": 0.756
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹垂直下落后白色物品进入电饭煲内胆",
+            "frame": 362,
+            "progress": 80,
+            "progress_explanation": "爪夹将白色物品向下放入电饭煲的内胆，进度提升为80%",
+            "state_description": "爪夹闭合，夹取的白色物品在电饭煲的内胆中\n为完成捡起白色物品并放入电饭煲的内胆中的任务：打开爪夹，使白色物品并放入电饭煲的内胆中",
+            "time": 12.066666666666666
+        },
+        {
+            "action_description": "爪夹松开，白色物品落入电饭煲的内胆\n捡起白色物品并放入电饭煲的内胆中任务已完成",
+            "annotations": {
+                "bbox_1766562839603": {
+                    "instances": [
+                        {
+                            "height": 0.3853333333333333,
+                            "id": "bbox_1766562839603_1766563301546_mbbs7t1uh",
+                            "width": 0.26999999999999996,
+                            "x": 0.35550000000000004,
+                            "y": 0.5813333333333334
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562948111": {
+                    "instances": [
+                        {
+                            "height": 0.3146666666666666,
+                            "id": "bbox_1766562948111_1766563287170_fevn0bqnz",
+                            "width": 0.22299999999999995,
+                            "x": 0.3315,
+                            "y": 0.6146666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766562957526": {
+                    "instances": [
+                        {
+                            "id": "point_1766562957526_1766563281649_5rujrfdk0",
+                            "x": 0.3815,
+                            "y": 0.6653333333333333
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+                    ],
+                    "type": "point"
+                },
+                "point_1766562965919": {
+                    "instances": [
+                        {
+                            "id": "point_1766562965919_1766563279543_wh90myqvy",
+                            "x": 0.48650000000000004,
+                            "y": 0.656
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "捡起白色物品并放入电饭煲的内胆中已完成",
+            "error_success_analysis": "爪夹松开白色物品成功落入电饭煲的内胆中",
+            "frame": 449,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，白色物品落入电饭煲的内胆，进度提升为100%",
+            "state_description": "爪夹松开，白色物品落入电饭煲的内胆\n",
+            "time": 14.965119976804123
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766562839603",
+            "name": "白色物品"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766562948111",
+            "name": "电饭煲的内胆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766562957526",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766562965919",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-152528-mix-white items-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,854 @@
+{
+    "task_description": "捡起白色物品并将它放入电饭煲的内胆中。\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓取白色物品接近电饭煲的内胆60%\n爪夹将白色物品放入电饭煲的内胆80%\n爪夹松开，白色物品落入电饭煲的内胆中100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的前方移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的右后方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "",
+            "frame": 65,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%",
+            "state_description": "爪夹当前处于打开状态，没有移动和接触白色物品。\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的前方移动，准备抓取白色物品",
+            "time": 2.1666666666666665,
+            "annotations": {
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766569790557_btebjoh60",
+                            "x": 0.3815,
+                            "y": 0.45866666666666667,
+                            "width": 0.259,
+                            "height": 0.44133333333333336
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766569822040_4g990o3o2",
+                            "x": 0.0595,
+                            "y": 0.32800000000000007,
+                            "width": 0.21999999999999997,
+                            "height": 0.2866666666666667
+                        }
+                    ]
+                },
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766569829287_3w9ri1a9c",
+                            "x": 0.3665,
+                            "y": 0.36133333333333334
+                        }
+                    ]
+                },
+                "point_1766569768548": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569768548_1766569831963_gyms9yq77",
+                            "x": 0.4755,
+                            "y": 0.3893333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向前移动并调整角度垂直于桌面",
+            "correction_plan": "向爪夹方向的左边移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的右后方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹向前移动并调整爪夹的抓取角度",
+            "frame": 120,
+            "progress": 10,
+            "progress_explanation": "爪夹往前向白色物品靠近，进度提升为10%",
+            "state_description": "爪夹打开，白色物品在爪夹的下方，电饭煲内胆在爪夹的右后方\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：向爪夹方向的左边移动至白色物品的侧边正上方，方便抓取",
+            "time": 4,
+            "annotations": {
+                "point_1766569768548": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569768548_1766569838570_5ftohvfuo",
+                            "x": 0.5655,
+                            "y": 0.508
+                        }
+                    ]
+                },
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766569841064_4ikablolc",
+                            "x": 0.4535,
+                            "y": 0.5493333333333333
+                        }
+                    ]
+                },
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766569850348_tny2evldb",
+                            "x": 0.3815,
+                            "y": 0.46,
+                            "width": 0.257,
+                            "height": 0.43733333333333335
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766569863929_cuveixqwp",
+                            "x": 0.057499999999999996,
+                            "y": 0.32933333333333337,
+                            "width": 0.221,
+                            "height": 0.2813333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹垂直下落在白色物品的正上方",
+            "correction_plan": "向爪夹方向的左边或右边移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的右后方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹向下方朝白色物品靠近",
+            "frame": 142,
+            "progress": 20,
+            "progress_explanation": "爪夹向下靠近白色物品，进度提升为20%",
+            "state_description": "爪夹打开，在白色物品的正上方，电饭煲的内胆在爪夹的右下方\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：向爪夹方向的左边移动至白色物品的侧边正上方，方便抓取",
+            "time": 4.733333333333333,
+            "annotations": {
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766569882232_qg9el7idn",
+                            "x": 0.46349999999999997,
+                            "y": 0.6346666666666666
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766569892744_1ui2e2ct8",
+                            "x": 0.0605,
+                            "y": 0.3293333333333333,
+                            "width": 0.221,
+                            "height": 0.2826666666666667
+                        }
+                    ]
+                },
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766569908052_uvgiaumub",
+                            "x": 0.38049999999999995,
+                            "y": 0.45733333333333337,
+                            "width": 0.258,
+                            "height": 0.44000000000000006
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹做夹取动作",
+            "correction_plan": "爪夹打开，向爪夹方向的左边或右边移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的右后方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹没有从物品的侧面抓取，抓取失败",
+            "frame": 176,
+            "progress": 30,
+            "progress_explanation": "爪夹合拢抓取白色物品失败，进度提升为30%",
+            "state_description": "爪夹合拢，白色物品在爪夹的下方\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：打开爪夹，向爪夹方向的左边移动至白色物品的侧边正上方，方便抓取",
+            "time": 5.85264598814433,
+            "annotations": {
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766569923407_tkvt8q3cz",
+                            "x": 0.3815,
+                            "y": 0.45733333333333337,
+                            "width": 0.25800000000000006,
+                            "height": 0.4386666666666666
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766569931070_gd6uj8g9j",
+                            "x": 0.05650000000000001,
+                            "y": 0.3266666666666666,
+                            "width": 0.22299999999999995,
+                            "height": 0.2880000000000001
+                        }
+                    ]
+                },
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766569944888_alueqlbip",
+                            "x": 0.4565,
+                            "y": 0.624
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+                    ]
+                },
+                "point_1766569768548": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569768548_1766569948008_wuqutk784",
+                            "x": 0.4615,
+                            "y": 0.6226666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹上移并重新打开",
+            "correction_plan": "向爪夹方向的下边移动至白色物品的侧边，方便抓取白色物品，移动至白色物品侧边正上方后垂直向下，合并爪夹抓取白色物品，抓取后向上抬升并向爪夹的右后方移动至电饭煲的内胆正上方，垂直下落缩短与电饭煲内胆的距离后，打开爪夹，将白色物品放入电饭煲的内胆中",
+            "error_success_analysis": "爪夹打开向上调整方向",
+            "frame": 228,
+            "progress": 10,
+            "progress_explanation": "爪夹上调位置并重新打开，进度下降到10%",
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+            "state_description": "爪夹合并，夹取白色物品在电饭煲内胆中\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：抓取白色物品的爪夹打开，白色物品放入电饭煲的内胆中",
+            "time": 26.533333333333335,
+            "annotations": {
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766570264206_tqif7xy2v",
+                            "x": 0.0015,
+                            "y": 0.20400000000000001,
+                            "width": 0.296,
+                            "height": 0.3106666666666667
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766570272142_ewlofbo5c",
+                            "x": 0.05850000000000001,
+                            "y": 0.3266666666666666,
+                            "width": 0.22199999999999998,
+                            "height": 0.28266666666666673
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪机重新打开并向上抬升",
+            "correction_plan": "爪夹继续向上抬升，使白色物品落入电饭煲的内胆中",
+            "error_success_analysis": "爪夹将白色物品落入电饭煲的内胆中爪夹松开，白色物品未脱离爪夹",
+            "frame": 867,
+            "progress": 90,
+            "progress_explanation": "爪夹将白色物品放入电饭煲的内胆中，爪夹打开但物品未成功脱离爪夹，进度提升为90%",
+            "state_description": "爪夹打开，白色物品在电饭煲的内胆中\n为了完成捡起白色物品并将它放入电饭煲的内胆中的任务：爪夹继续向上抬升，使夹取物脱离爪夹",
+            "time": 28.9,
+            "annotations": {
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766570295563_1rtv8s202",
+                            "x": 0.0055,
+                            "y": 0.29733333333333334,
+                            "width": 0.347,
+                            "height": 0.2773333333333334
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766570302738_1dzlr6v65",
+                            "x": 0.1085,
+                            "y": 0.34800000000000003,
+                            "width": 0.22000000000000003,
+                            "height": 0.2573333333333333
+                        }
+                    ]
+                },
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766570310492_ryu4oaske",
+                            "x": 0.1715,
+                            "y": 0.3893333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升回撤",
+            "correction_plan": "捡起白色物品并将它放入电饭煲的内胆中的任务已完成",
+            "error_success_analysis": "爪夹打开后逐步抬升，白色物品落入电饭煲的内胆中",
+            "frame": 904,
+            "progress": 100,
+            "progress_explanation": "爪夹松开并回撤，白色物品落入电饭煲的内胆中100%",
+            "state_description": "爪夹持续上升，白色物品落入电饭煲的内胆中\n完成捡起白色物品并将它放入电饭煲的内胆中的任务完成",
+            "time": 30.133333333333333,
+            "annotations": {
+                "bbox_1766569748572": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569748572_1766570332089_8q7nhch7j",
+                            "x": 0.0835,
+                            "y": 0.17600000000000002,
+                            "width": 0.221,
+                            "height": 0.4026666666666666
+                        }
+                    ]
+                },
+                "bbox_1766569753581": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766569753581_1766570345832_fwfvnsts2",
+                            "x": 0.1295,
+                            "y": 0.29333333333333333,
+                            "width": 0.221,
+                            "height": 0.2746666666666666
+                        }
+                    ]
+                },
+                "point_1766569759744": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569759744_1766570356024_8bo04ed6c",
+                            "x": 0.0455,
+                            "y": 0.16933333333333334
+                        }
+                    ]
+                },
+                "point_1766569768548": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766569768548_1766570358787_ozjc2proy",
+                            "x": 0.1555,
+                            "y": 0.27466666666666667
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1766569748572",
+            "name": "白色物品",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1766569753581",
+            "name": "电饭煲内胆",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1766569759744",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1766569768548",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-165624-good-white items-round container/annotations/chunk-000/observation.images.front/episode_000008.json

@@ -0,0 +1,342 @@
+{
+    "task_description": "抓起白色物品使其落入塑料圆形容器\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓住白色物品靠近塑料圆形容器60%\n爪夹将白色物品放入塑料圆形容器80%\n爪夹松开，白色物品落入塑料圆形容器100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹启动，开始作业",
+            "correction_plan": "保持爪夹张开状态，向左前方移动至白色物品位置后下降，抓取白色物品后抬升，向右前方移动至塑料圆形容器下降，张开爪夹使白色物品落入",
+            "error_success_analysis": "爪夹启动，开始作业",
+            "frame": 50,
+            "progress": 0,
+            "progress_explanation": "爪夹启动尚未开始作业，因此进度为0%",
+            "state_description": "当前状态为爪夹张开，准备作业，为完成把白色物品放入塑料圆形容器的任务应当：向左前方移动至白色物品位置下降",
+            "time": 1.655,
+            "annotations": {
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565557972_7fbw7l3t2",
+                            "x": 0.6765000000000001,
+                            "y": 0.3093333333333333,
+                            "width": 0.284,
+                            "height": 0.3813333333333333
+                        }
+                    ]
+                },
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565561662_ubb0ki8js",
+                            "x": 0.1375,
+                            "y": 0.6293333333333333,
+                            "width": 0.36000000000000004,
+                            "height": 0.34400000000000003
+                        }
+                    ]
+                },
+                "point_1766565537649": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565537649_1766565563403_9yltpppnj",
+                            "x": 0.41450000000000004,
+                            "y": 0.384
+                        }
+                    ]
+                },
+                "point_1766565538440": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565538440_1766565565538_6792vr59r",
+                            "x": 0.5205,
+                            "y": 0.36000000000000004
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹抬升并移动",
+            "correction_plan": "保持爪夹张开向左前方移动至白色物品后下降，抓取白色物品后抬升向右前方移动至塑料圆形容器，下降并张开爪夹，使白色物品落入容器",
+            "error_success_analysis": "爪夹成功向上抬升",
+            "frame": 90,
+            "progress": 10,
+            "progress_explanation": "爪夹已抬升，即将向左前方移动，因此进度上升为10%",
+            "state_description": "当前状态为爪夹张开，白色物品尚未被抓起。为完成把白色物品放入塑料圆形容器的任务应当：向左前方移动至白色物品后下降",
+            "time": 2.99990412371134,
+            "annotations": {
+                "point_1766565538440": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565538440_1766565570321_4bunpbl4v",
+                            "x": 0.5645,
+                            "y": 0.2946666666666667
+                        }
+                    ]
+                },
+                "point_1766565537649": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565537649_1766565572676_zmd6mssuh",
+                            "x": 0.4405,
+                            "y": 0.35200000000000004
+                        }
+                    ]
+                },
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565575592_nhm0ia8x4",
+                            "x": 0.1405,
+                            "y": 0.66,
+                            "width": 0.362,
+                            "height": 0.30933333333333335
+                        }
+                    ]
+                },
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565578041_pufc0k881",
+                            "x": 0.6725000000000001,
+                            "y": 0.32,
+                            "width": 0.2739999999999999,
+                            "height": 0.36800000000000005
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左前方移动",
+            "correction_plan": "爪夹合拢并抬升，向右前方移动至塑料圆形容器上方后下降，松开爪夹使白色物品落入圆形容器",
+            "error_success_analysis": "爪夹移动正确至白色物品处",
+            "frame": 157,
+            "progress": 20,
+            "progress_explanation": "爪夹靠近白色物品，进度上升为20%",
+            "state_description": "当前状态为爪夹张开，尚未抓起白色物品。为完成把白色物品放入塑料圆形容器的任务应当：爪夹收拢，向上抬升并向右前方移动",
+            "time": 5.222,
+            "annotations": {
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565583345_eq37c8ye0",
+                            "x": 0.6925,
+                            "y": 0.32,
+                            "width": 0.25900000000000006,
+                            "height": 0.35466666666666674
+                        }
+                    ]
+                },
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565586793_p6m1azrju",
+                            "x": 0.1385,
+                            "y": 0.6546666666666666,
+                            "width": 0.3590000000000001,
+                            "height": 0.32133333333333347
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹由张开状态变为合拢",
+            "correction_plan": "继续保持爪夹合拢状态，抬升并向右前方移动至塑料圆形容器上方后下降，松开爪夹使白色物品落入塑料圆形容器",
+            "error_success_analysis": "爪夹夹取物品成功",
+            "frame": 203,
+            "progress": 40,
+            "progress_explanation": "爪夹成功夹取白色物品，进度上涨为40%",
+            "state_description": "爪夹合拢，抓紧白色物品。为完成把白色物品放入塑料圆形容器的任务应当：继续保持爪夹合拢，上升并向右前方移动",
+            "time": 6.755,
+            "annotations": {
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565600213_z2wp983pz",
+                            "x": 0.1395,
+                            "y": 0.6466666666666667,
+                            "width": 0.361,
+                            "height": 0.32266666666666666
+                        }
+                    ]
+                },
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565602833_8zdks4nc0",
+                            "x": 0.6985,
+                            "y": 0.3093333333333333,
+                            "width": 0.25900000000000006,
+                            "height": 0.376
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右前方移动",
+            "correction_plan": "下降至圆形塑料容器后松开爪夹，使白色物品落入圆形塑料容器",
+            "error_success_analysis": "爪夹保持合拢，抓取白色物品成功移动",
+            "frame": 275,
+            "progress": 60,
+            "progress_explanation": "白色物品已靠近塑料圆形容器，进度上升至60%",
+            "state_description": "当前状态为爪夹合拢，抓紧白色物品，白色物品已被抬升至空中。为完成把白色物品放入塑料圆形容器的任务应当：下降将白色物品放入塑料圆形容器",
+            "time": 9.17,
+            "annotations": {
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565608857_60nghfs6a",
+                            "x": 0.3945,
+                            "y": 0.328,
+                            "width": 0.238,
+                            "height": 0.636
+                        }
+                    ]
+                },
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565612616_kjpizek5j",
+                            "x": 0.1365,
+                            "y": 0.6586666666666667,
+                            "width": 0.364,
+                            "height": 0.30399999999999994
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下移动",
+            "correction_plan": "张开爪夹",
+            "error_success_analysis": "爪夹保持合拢，成功下降，将白色物品送入容器",
+            "frame": 340,
+            "progress": 80,
+            "progress_explanation": "白色物品已被移至塑料圆形容器中，进度上涨至80%",
+            "state_description": "当前状态为合拢，抓紧白色物品放入塑料圆形容器。为完成把白色物品放入塑料圆形容器的任务应当：张开爪夹",
+            "time": 11.341,
+            "annotations": {
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565617937_d0pv48583",
+                            "x": 0.1305,
+                            "y": 0.6453333333333333,
+                            "width": 0.37700000000000006,
+                            "height": 0.3146666666666667
+                        }
+                    ]
+                },
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565622442_ubbctr0di",
+                            "x": 0.1635,
+                            "y": 0.6920000000000001,
+                            "width": 0.271,
+                            "height": 0.26399999999999996
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹由合拢变为张开",
+            "correction_plan": "爪夹归位，任务完成",
+            "error_success_analysis": "爪夹成功张开，白色物品成功落入塑料圆形容器",
+            "frame": 378,
+            "progress": 100,
+            "progress_explanation": "白色物品已落入塑料圆形容器，任务完成，进度上涨至100%",
+            "state_description": "当前状态为爪夹张开，白色物品已被放入圆形塑料容器",
+            "time": 12.616,
+            "annotations": {
+                "bbox_1766565522651": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565522651_1766565629337_tbs3jah8y",
+                            "x": 0.1125,
+                            "y": 0.6266666666666667,
+                            "width": 0.34199999999999997,
+                            "height": 0.33866666666666667
+                        }
+                    ]
+                },
+                "bbox_1766565528801": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766565528801_1766565633646_b1mzaolap",
+                            "x": 0.17650000000000002,
+                            "y": 0.6346666666666666,
+                            "width": 0.326,
+                            "height": 0.3306666666666667
+                        }
+                    ]
+                },
+                "point_1766565537649": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565537649_1766565635527_vxizsm68m",
+                            "x": 0.28250000000000003,
+                            "y": 0.66
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+                    ]
+                },
+                "point_1766565538440": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766565538440_1766565637231_emksv93yy",
+                            "x": 0.4165,
+                            "y": 0.7066666666666667
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1766565522651",
+            "name": "白色物品",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1766565528801",
+            "name": "塑料圆形容器",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1766565537649",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1766565538440",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-170910-mix-white items-round container/annotations/chunk-000/observation.images.front/episode_000003.json

@@ -0,0 +1,1004 @@
+{
+    "task_description": "捡起白色物品，把它放进透明塑料盒里。\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓取白色物品接近透明塑料盒60%\n爪夹将白色物品放入透明塑料盒80%\n爪夹松开，白色物品落入透明塑料盒100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "annotations": {
+                "bbox_1766632720334": {
+                    "instances": [
+                        {
+                            "height": 0.3440000000000001,
+                            "id": "bbox_1766632720334_1766632788453_78qvmtq47",
+                            "width": 0.238,
+                            "x": 0.6465000000000001,
+                            "y": 0.2773333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766632738322": {
+                    "instances": [
+                        {
+                            "height": 0.39200000000000007,
+                            "id": "bbox_1766632738322_1766632813053_o92q2xiai",
+                            "width": 0.312,
+                            "x": 0.029500000000000005,
+                            "y": 0.28933333333333333
+                        }
+                    ],
+                    "type": "bbox"
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+            "state_description": "爪夹保持打开状态，暂未移动\n爪夹当前处于打开状态，没有移动和白色物品。\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左边移动至白色物品的侧边，方便抓取白色物品",
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+        {
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+            "error_success_analysis": "爪夹抓取前未向左移动至白色物品的侧边",
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+            "progress": 10,
+            "progress_explanation": "爪夹提留在白色物品的右上方，进度提升为10%",
+            "state_description": "爪夹合并，盘子在白色物品的上方\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：爪夹重新打开，向前方移动至白色物品的侧边",
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+            "error_success_analysis": "爪夹重新打开",
+            "frame": 209,
+            "progress": 10,
+            "progress_explanation": "爪夹打开停留在白色物品的上方，进度保持在10%",
+            "state_description": "爪夹打开，盘子在白色物品的上方\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：爪夹向右侧移动至白色物品的侧边后竖直向下准备做抓取动作",
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+            "action_description": "爪夹竖直下落",
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+            "progress": -20,
+            "progress_explanation": "爪夹靠近并触及了盘子，进度降低到-20%",
+            "state_description": "爪夹打开，靠近盘子，盘子下方为白色物品\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：爪夹向上抬升后向左边移动至白色物品的侧边后竖直向下准备做抓取动作",
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+            "state_description": "爪夹合并并夹取盘子，下方为白色物品\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：爪夹夹取盘子向右移动后打开爪夹使盘子移开，后重新向左侧移动至白色物品的侧边",
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+            "progress": -50,
+            "progress_explanation": "爪夹夹取障碍物盘子移开，进度下降为-50%",
+            "state_description": "爪夹打开，位于白色物品和透明塑料盒中间\n为了完成捡起白色物品，把它放进透明塑料盒里的任务：爪夹彻底打开并调整角度使爪夹垂直于桌面，向爪夹的左后方移动至白色物品的侧边",
+            "time": 9.8
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+                            "width": 0.311,
+                            "height": 0.3933333333333333
+                        }
+                    ]
+                },
+                "point_1766632747226": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766632747226_1766633513511_zdr6eb84u",
+                            "x": 0.2995,
+                            "y": 0.3426666666666666
+                        }
+                    ]
+                },
+                "point_1766632763757": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766632763757_1766633515459_4oyfj6bs1",
+                            "x": 0.35650000000000004,
+                            "y": 0.352
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "捡起白色物品，把它放进透明塑料盒里的任务完成",
+            "error_success_analysis": "爪夹打开，白色物品进入透明塑料盒",
+            "frame": 774,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，白色物品落入透明塑料盒，进度提升到100%",
+            "state_description": "爪夹打开，白色物品在透明塑料盒里\n已完成捡起白色物品，把它放进透明塑料盒里",
+            "time": 25.81017213453608
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766632720334",
+            "name": "白色物品"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766632738322",
+            "name": "透明塑料盒"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766632747226",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766632763757",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-171904-bad-orange-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,674 @@
+{
+    "task_description": "把橙色物品放入电饭煲内胆中。\n开始移动0%\n爪夹靠近橙色物品20%\n爪夹抓取橙色物品40%\n爪夹抓取橙色物品接近电饭煲内胆60%\n爪夹将橙色物品放入电饭煲内胆80%\n爪夹松开，橙色物品落入电饭煲内胆中100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动至橙色物品的侧边上方，竖直下落抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "",
+            "frame": 82,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%",
+            "state_description": "爪夹当前处于打开状态，没有移动和接触橙色物品。\n为了完成把橙色物品放入电饭煲内胆中的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动至橙色物品的侧边",
+            "time": 2.737371134020618,
+            "annotations": {
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766644112282_d4t8ulyuv",
+                            "x": 0.5615,
+                            "y": 0.36133333333333334
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766644115830_s2ld48fnc",
+                            "x": 0.46349999999999997,
+                            "y": 0.37333333333333335
+                        }
+                    ]
+                },
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766644123426_3wl7lr1o6",
+                            "x": 0.6365000000000001,
+                            "y": 0.5413333333333334,
+                            "width": 0.281,
+                            "height": 0.4146666666666666
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766644143018_x6juybuk0",
+                            "x": 0.6395000000000001,
+                            "y": 0.2706666666666667,
+                            "width": 0.203,
+                            "height": 0.272
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向前移动后并向下调整爪夹角度",
+            "correction_plan": "爪夹向爪夹方向的左前方移动至橙色物品的侧边上方，竖直下落抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向前移动并向下调整角度",
+            "frame": 119,
+            "progress": 5,
+            "progress_explanation": "爪夹向前方移动和调整角度，进度提升为5%",
+            "state_description": "爪夹打开，左前方是橙色物品，左后方使电饭煲内胆\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向左前方移动至橙色物品的侧边",
+            "time": 3.966666666666667,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766644425914_04ikl7jbd",
+                            "x": 0.6355000000000001,
+                            "y": 0.544,
+                            "width": 0.28200000000000003,
+                            "height": 0.4133333333333333
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766644437256_vyyhe6ytj",
+                            "x": 0.6395000000000001,
+                            "y": 0.2733333333333333,
+                            "width": 0.20200000000000004,
+                            "height": 0.26800000000000007
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766644447710_72jhmu78i",
+                            "x": 0.4375,
+                            "y": 0.412
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766644450134_heqgne9vl",
+                            "x": 0.5475000000000001,
+                            "y": 0.4106666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右并向下移动到碗的上方",
+            "correction_plan": "爪夹上移并向爪夹方向的左前方移动至橙色物品的侧边上方，竖直下落抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向右移动停留在碗的上方，偏离主体物橙色物品",
+            "frame": 185,
+            "progress": -15,
+            "progress_explanation": "爪夹停留在碗的上方，进度下降为-15%",
+            "state_description": "爪夹打开位于碗的上方，爪夹左前方是橙色物品，左后方是电饭煲内胆\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向左前方移动至橙色物品的侧边上方后竖直下落准备抓取橙色物品",
+            "time": 6.175,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766644828640_s2tlgi42n",
+                            "x": 0.6395000000000001,
+                            "y": 0.5426666666666667,
+                            "width": 0.278,
+                            "height": 0.4093333333333334
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766644842531_8urk90zxh",
+                            "x": 0.6365,
+                            "y": 0.2733333333333334,
+                            "width": 0.20400000000000001,
+                            "height": 0.2666666666666666
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766644852517_ft2qcao4y",
+                            "x": 0.3945,
+                            "y": 0.5519999999999999
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766644856646_m0fkvvs73",
+                            "x": 0.4915,
+                            "y": 0.5626666666666666
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下并持续向左移动",
+            "correction_plan": "爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向左边的橙色物品移动",
+            "frame": 209,
+            "progress": 10,
+            "progress_explanation": "爪夹向左移动靠近橙色物品，进度提升为10%",
+            "state_description": "爪夹张开，位于橙色物品和电饭煲内胆的中上方\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品",
+            "time": 6.964381443298969,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766645236032_hoegk5oqh",
+                            "x": 0.6635000000000001,
+                            "y": 0.5293333333333333,
+                            "width": 0.3089999999999999,
+                            "height": 0.4373333333333333
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766645248902_l5jqvbyp3",
+                            "x": 0.6965,
+                            "y": 0.19733333333333333,
+                            "width": 0.19299999999999998,
+                            "height": 0.26
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766645259506_b3dubjpo4",
+                            "x": 0.6545,
+                            "y": 0.5146666666666666
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右后方移动并向上抬升",
+            "correction_plan": "重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边，后爪夹垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向右后方移动偏离目标物橙色物品",
+            "frame": 268,
+            "progress": 5,
+            "progress_explanation": "爪夹向远离橙色物品的右后方移动，进度降到5%",
+            "state_description": "爪夹打开，左后方是电饭煲内胆\n为了完成把橙色物品放入电饭煲内胆中的任务：重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边",
+            "time": 8.925103092783504,
+            "annotations": {
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766645533305_2jyte0hg7",
+                            "x": 0.5465,
+                            "y": 0.34933333333333333
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766645535895_bnhtlk39g",
+                            "x": 0.6825,
+                            "y": 0.25866666666666666
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766645542397_t6dtvziyk",
+                            "x": 0.6935,
+                            "y": 0.196,
+                            "width": 0.196,
+                            "height": 0.2586666666666667
+                        }
+                    ]
+                },
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766645559972_qpr7nfyji",
+                            "x": 0.6615,
+                            "y": 0.5306666666666667,
+                            "width": 0.31099999999999994,
+                            "height": 0.43599999999999994
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右后方移动",
+            "correction_plan": "重新调整爪夹移动至视频画面中，调整爪夹角度垂直于桌面，然后向爪夹方向的左前方移动至橙色物品的侧边上方，竖直下落抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向上抬升过高，超出视频画面范围",
+            "frame": 297,
+            "progress": 0,
+            "progress_explanation": "爪夹移动出视频画面范围，进度下降为0%",
+            "state_description": "爪夹消失，爪夹臂左侧上方是橙色物品\n为了完成把橙色物品放入电饭煲内胆中的任务：重新调整爪夹移动至视频画面中，调整爪夹角度垂直于桌面",
+            "time": 9.892731958762887,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766645891979_dh0fe2rfz",
+                            "x": 0.6625,
+                            "y": 0.532,
+                            "width": 0.308,
+                            "height": 0.43866666666666665
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766645904493_sfdqqjqpr",
+                            "x": 0.6905,
+                            "y": 0.19733333333333333,
+                            "width": 0.19899999999999993,
+                            "height": 0.2573333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向下向左移动并向下调整爪夹角度",
+            "correction_plan": "重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边，后爪夹垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向左前方移动并向下调整爪夹角度",
+            "frame": 331,
+            "progress": 5,
+            "progress_explanation": "爪夹向左侧橙色物品靠近，进度提升到5%",
+            "state_description": "爪夹打开，左后方是电饭煲内胆\n为了完成把橙色物品放入电饭煲内胆中的任务：重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边",
+            "time": 11.038608247422681,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766646318459_nedykyu58",
+                            "x": 0.6605,
+                            "y": 0.5306666666666666,
+                            "width": 0.312,
+                            "height": 0.44000000000000006
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766646330457_x9j1d1u09",
+                            "x": 0.6955,
+                            "y": 0.196,
+                            "width": 0.19800000000000004,
+                            "height": 0.2653333333333333
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766646345015_wgb6hjgky",
+                            "x": 0.7115,
+                            "y": 0.376
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+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766646348396_1rrht6jpc",
+                            "x": 0.7895000000000001,
+                            "y": 0.28933333333333333
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左后方移动",
+            "correction_plan": "重新调整爪夹移动至视频画面中，调整爪夹角度垂直于桌面，然后向爪夹方向的前方移动至橙色物品的侧边上方，竖直下落抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向左后抬升过高，超出视频画面范围",
+            "frame": 372,
+            "progress": 0,
+            "progress_explanation": "爪夹移动出视频画面范围，进度下降为0%",
+            "state_description": "爪夹消失，爪夹臂左侧上方是橙色物品\n为了完成把橙色物品放入电饭煲内胆中的任务：重新调整爪夹移动至视频画面中，调整爪夹角度垂直于桌面",
+            "time": 12.413659793814432,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766646598962_i0qjylyqg",
+                            "x": 0.6615,
+                            "y": 0.5293333333333333,
+                            "width": 0.30700000000000005,
+                            "height": 0.436
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766646611555_44e9ffufj",
+                            "x": 0.6955,
+                            "y": 0.196,
+                            "width": 0.1960000000000001,
+                            "height": 0.256
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向右并向左移动",
+            "correction_plan": "重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边，后爪夹垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向右移动重新进入画面范围并向左移动",
+            "frame": 470,
+            "progress": 5,
+            "progress_explanation": "爪夹向左侧橙色物品靠近，进度提升到5%",
+            "state_description": "爪夹打开，左后方是电饭煲内胆\n为了完成把橙色物品放入电饭煲内胆中的任务：重新调整爪夹的角度使其垂直于桌面，并向爪夹的左前方移动至橙色物品的侧边",
+            "time": 15.6730412371134,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766646757599_mlxesftpw",
+                            "x": 0.6615,
+                            "y": 0.5293333333333333,
+                            "width": 0.31099999999999994,
+                            "height": 0.44266666666666665
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766646769361_dsgv9ysqa",
+                            "x": 0.6925,
+                            "y": 0.19599999999999998,
+                            "width": 0.19799999999999995,
+                            "height": 0.26133333333333336
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766646780344_3z5z1kh9y",
+                            "x": 0.6945,
+                            "y": 0.26
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766646783585_8nxp0o572",
+                            "x": 0.7505,
+                            "y": 0.24400000000000002
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向前移动，略微下降高度",
+            "correction_plan": "爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向前移动靠近橙色物品",
+            "frame": 517,
+            "progress": 10,
+            "progress_explanation": "爪夹向左移动靠近橙色物品，进度提升为10%",
+            "state_description": "爪夹张开，位于橙色物品和电饭煲内胆的中上方\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹上移并向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品",
+            "time": 17.233333333333334,
+            "annotations": {
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766646939344_nv1je6c2s",
+                            "x": 0.6915,
+                            "y": 0.5373333333333333
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766646941269_moiu6dgms",
+                            "x": 0.6045,
+                            "y": 0.5226666666666666
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766646947318_u4ludhhw8",
+                            "x": 0.6995,
+                            "y": 0.19733333333333333,
+                            "width": 0.18999999999999995,
+                            "height": 0.26
+                        }
+                    ]
+                },
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766646961109_l6aa45cr8",
+                            "x": 0.6635000000000001,
+                            "y": 0.528,
+                            "width": 0.3089999999999999,
+                            "height": 0.43866666666666665
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左后方移动",
+            "correction_plan": "调整爪夹角度垂直桌面，爪夹继续向后移动至橙色物品侧边的上方后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向左后方移动到橙色物品上方",
+            "frame": 552,
+            "progress": 15,
+            "progress_explanation": "爪夹向左边的橙色物品靠近，进度提升为15%",
+            "state_description": "爪夹打开，在橙色物品的上方\n为了完成把橙色物品放入电饭煲内胆中的任务：调整爪夹角度垂直桌面，爪夹继续向后移动至橙色物品侧边的上方",
+            "time": 18.4,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766647111778_tuzs89vb3",
+                            "x": 0.6615,
+                            "y": 0.5306666666666666,
+                            "width": 0.31099999999999994,
+                            "height": 0.4373333333333333
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766647130394_ra48owu8e",
+                            "x": 0.8435,
+                            "y": 0.5026666666666667
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766647133134_zbrs65xf4",
+                            "x": 0.9015000000000001,
+                            "y": 0.44933333333333336
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左后移动到玉米前上方",
+            "correction_plan": "爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹向左后移动偏离目标物橙色物品",
+            "frame": 634,
+            "progress": 10,
+            "progress_explanation": "爪夹向左后偏离橙色物品方向移动，进度下降为10%",
+            "state_description": "爪夹张开，位于橙色物品和电饭煲内胆的中上方\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品",
+            "time": 21.122319587628866,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766647454290_lub4p2xqb",
+                            "x": 0.6605000000000001,
+                            "y": 0.5319999999999999,
+                            "width": 0.30999999999999994,
+                            "height": 0.43600000000000005
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766647471302_hmrav7o84",
+                            "x": 0.7405,
+                            "y": 0.492
+                        }
+                    ]
+                },
+                "point_1766642077809": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642077809_1766647473820_b358699yd",
+                            "x": 0.7795,
+                            "y": 0.4266666666666667
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左后方想移动至电饭煲内胆侧边",
+            "correction_plan": "爪夹向上抬升后，爪夹向前方移动至橙色物品的侧边后垂直下落准备抓取橙色物品，抓取后竖直上升并向后方移动至电饭煲内胆的正上方后下落缩短抓取物与电饭煲内胆的距离，继续下落将橙色物品放入电饭煲内胆，打开爪夹，橙色物品落入电饭煲内胆中",
+            "error_success_analysis": "爪夹没有继续朝橙色物品的侧边上方移动",
+            "frame": 717,
+            "progress": 5,
+            "progress_explanation": "爪夹向橙色物品的后方移动，远离橙色物品，进度降低为5%",
+            "state_description": "爪夹打开，右侧爪夹位于电饭煲内胆里侧\n为了完成把橙色物品放入电饭煲内胆中的任务：爪夹向上抬升并向前移动至橙色物品的侧边上方",
+            "time": 23.9,
+            "annotations": {
+                "bbox_1766642051565": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642051565_1766647769870_xleygqk7y",
+                            "x": 0.6625,
+                            "y": 0.528,
+                            "width": 0.30999999999999994,
+                            "height": 0.44
+                        }
+                    ]
+                },
+                "bbox_1766642058708": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766642058708_1766647782052_l16m0r0io",
+                            "x": 0.6925,
+                            "y": 0.20133333333333334,
+                            "width": 0.19699999999999998,
+                            "height": 0.24800000000000003
+                        }
+                    ]
+                },
+                "point_1766642067465": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766642067465_1766647792568_wbl567oos",
+                            "x": 0.8295,
+                            "y": 0.42933333333333334
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766642051565",
+            "name": "橙色物品"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766642058708",
+            "name": "电饭煲内胆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766642067465",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766642077809",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-173757-good-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,100 @@
+{
+    "task_description": "抓取白色勺子并放进快递箱里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近铁盒：60%\n爪夹将蓝色方块放入铁盒：80%\n爪夹松开蓝色方块落入铁盒：100%",
+    "progress_points": [
+        {
+            "time": 1.459333,
+            "frame": 44,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹升高，调整爪夹角度接近垂直于桌面并移动到白色勺子正上方。",
+            "progress_explanation": "当前为初始状态，爪夹张开未移动，远离白色勺子。因此进度为0%",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹升高，调整爪夹角度接近垂直于桌面并移动到白色勺子正上方"
+        },
+        {
+            "time": 3.5194474113989638,
+            "frame": 106,
+            "progress": 20,
+            "action_description": "爪夹垂直升高并调整爪夹角度，使其接近垂直于桌面，然后爪夹垂直向下靠近白色勺子。",
+            "state_description": "爪夹垂直升高并调整角度垂直于桌面，然后爪夹垂直向下靠近白色勺子/\n为完成抓取白色勺子放入快递箱的任务应当：爪夹合拢抓取到白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。",
+            "progress_explanation": "爪夹垂直升高并调整角度接近垂直于桌面，垂直向下靠近白色勺子。方便抓取。因此进度提升为20%",
+            "error_success_analysis": "爪夹垂直升高并调整角度接近垂直于桌面，然后爪夹垂直向下移动，靠近快递箱，方便抓取。",
+            "correction_plan": "爪夹合拢抓取白色勺子，爪夹抓紧白色勺子垂直升高并向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。"
+        },
+        {
+            "time": 4.976718605181347,
+            "frame": 149,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢抓取到白色勺子，爪夹角度预测桌面接近垂直。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。",
+            "progress_explanation": "爪夹抓取到白色勺子。因此进度提升为40%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取白色勺子。",
+            "correction_plan": "爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的快递箱接近。水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱中。"
+        },
+        {
+            "time": 6.928912091191711,
+            "frame": 208,
+            "progress": 60,
+            "action_description": "爪夹抓紧白色勺子，垂直升高。",
+            "state_description": "爪夹合拢抓紧白色勺子，垂直升高，水平上接近了快递箱。\n为完成抓取白色勺子放入快递箱的任务应当：继续向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。",
+            "progress_explanation": "爪夹合拢夹紧白色勺子并垂直升高，水平上接近了快递箱。缩短了与快递箱的距离。因此进度提升为60%",
+            "error_success_analysis": "爪夹合拢夹紧白色勺子并垂直升高，水平上接近了快递箱。方便将白色勺子放入快递箱。",
+            "correction_plan": "继续向爪夹左前方的快递箱接近，水平到达快递箱正上方后，松开爪夹，使白色勺子落入快递箱。"
+        },
+        {
+            "time": 8.001243724352332,
+            "frame": 240,
+            "progress": 70,
+            "action_description": "爪夹抓紧白色勺子，向爪夹左前方的快递箱移动。",
+            "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于快递箱上方。\n为完成抓取白色勺子放入快递箱的任务应当：爪夹移动到快递箱正上方后，下降到合适的位置松开爪夹，使白色勺子落入快递箱。",
+            "progress_explanation": "爪夹抓紧白色勺子并移动到快递箱正上方，方便将白色勺子放入快递箱。因此进度提升为70%",
+            "error_success_analysis": "爪夹移动到快递箱正上方，方便将白色勺子放入快递箱中。",
+            "correction_plan": "爪夹抓紧白色勺子下降到合适的位置后，松开爪夹，使白色勺子落入快递箱中。"
+        },
+        {
+            "time": 10.448359502590673,
+            "frame": 313,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，下降到合适位置。\n为完成抓取白色勺子放入快递箱的任务应当：松开爪夹，使白色勺子落入快递箱中。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置，方便白色勺子落入快递箱。因此进度提升为80%",
+            "error_success_analysis": "爪夹抓紧白色勺子垂直下降到合适位置，方便使白色勺子落入快递箱。",
+            "correction_plan": "松开爪夹，使白色勺子落入快递箱。"
+        },
+        {
+            "time": 13.266667,
+            "frame": 398,
+            "progress": 100,
+            "action_description": "爪夹张开，白色勺子落入快递箱。",
+            "state_description": "爪夹张开，爪夹角度保持垂直于桌面向下。\n爪夹抓取白色勺子放入快递箱的任务完成。",
+            "progress_explanation": "爪夹张开，白色勺子落入快递箱。任务完成。因此进度提升到100%",
+            "error_success_analysis": "爪夹张开，白色勺子落入快递箱。",
+            "correction_plan": "爪夹抓取白色勺子放入快递箱的任务完成，爪夹回到待机位置"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766202522623",
+            "name": "白色勺子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766202537479",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766202533378",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766202562770",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175428-mix-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json

@@ -0,0 +1,186 @@
+{
+    "task_description": "抓取白色勺子放入纸箱里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近纸箱：60%\n爪夹将白色勺子放入纸箱：80%\n爪夹松开白色勺子落入纸箱：100%",
+    "progress_points": [
+        {
+            "time": 1.8421376197404105,
+            "frame": 55,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动，因此进度为0%",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。"
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度。",
+            "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。",
+            "frame": 119,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，靠近白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：接近白色勺子后合拢爪夹。抓紧白色勺子垂直升高爪夹并向爪夹的右前方接近。",
+            "time": 3.960599114957592,
+            "annotations": {
+                "bbox_1766802016031": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766802016031_1766802062548_jh08m5hra",
+                            "x": 0.48928992956405865,
+                            "y": 0.3155287070409666,
+                            "width": 0.24172092137826,
+                            "height": 0.12735671861515813
+                        }
+                    ]
+                },
+                "point_1766802033234": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766802033234_1766802081833_xs619bf5f",
+                            "x": 0.38402436702836473,
+                            "y": 0.3649119244631708
+                        }
+                    ]
+                },
+                "point_1766802042561": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766802042561_1766802084806_86qzhsjrw",
+                            "x": 0.48734056729487907,
+                            "y": 0.34151987410528456
+                        }
+                    ]
+                },
+                "bbox_1766802022933": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766802022933_1766802106134_pzkc14o6k",
+                            "x": 0.3898724538359033,
+                            "y": 0.5026651099040561,
+                            "width": 0.45225204644964767,
+                            "height": 0.4834357073963146
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动同时爪夹角度接近垂直于垂直于桌面，爪夹合拢。",
+            "correction_plan": "爪夹垂直升高，爪夹移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹垂直向下未完全接近白色勺子，爪夹合拢未抓取到白色勺子。水平上远离了白色勺子。",
+            "frame": 182,
+            "progress": 10,
+            "progress_explanation": "爪夹合拢未抓取到白色勺子。因此进度降低为10%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢未抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹重新调整角度接近垂直于桌面，爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。",
+            "time": 6.079060610174774
+        },
+        {
+            "action_description": "爪夹升高，合拢后重新张开",
+            "correction_plan": "爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹合拢未成功抓取到白色勺子，需要重新抓取。",
+            "frame": 276,
+            "progress": 0,
+            "progress_explanation": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子，需要重新抓取白色勺子。因此进度降低为0%",
+            "state_description": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方。",
+            "time": 9.210699342234953
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，同时爪夹角度接近垂直于桌面。",
+            "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。",
+            "frame": 442,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子，方便抓取白色勺子。因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，靠近白色勺子。准备重新抓取白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：接近白色勺子后合拢爪夹。抓紧白色勺子垂直升高爪夹并向爪夹的右前方接近。",
+            "time": 14.73712063410586
+        },
+        {
+            "action_description": "爪夹角度垂直向下，爪夹合拢未成功",
+            "correction_plan": "爪夹张开，调整爪夹的角度接近垂直于桌面，并移动到白色勺子正上方并垂直向下靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹合拢未成功抓取到白色勺子，需要重新抓取。",
+            "frame": 589,
+            "progress": 0,
+            "progress_explanation": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子，需要重新抓取白色勺子。因此进度降低为0%",
+            "state_description": "爪夹合拢未成功抓取，爪夹张开，远离白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，调整爪夹的角度接近垂直于桌面，向下移动抓取白色勺子。",
+            "time": 19.618792775258495
+        },
+        {
+            "time": 21.645147248944497,
+            "frame": 649,
+            "progress": 20,
+            "action_description": "爪夹升高，调整角度接近垂直于桌面。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方。\n为完成抓取白色勺子放入纸箱的任务应当：垂直向下接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。",
+            "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方，方便抓取白色勺子。因此进度为20%",
+            "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，位于白色勺子正上方，方便抓取白色勺子。",
+            "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。"
+        },
+        {
+            "time": 24.03992980875522,
+            "frame": 721,
+            "progress": 40,
+            "action_description": "爪夹垂直向下接近白色勺子，爪夹合拢，抓取白色勺子。",
+            "state_description": "爪夹垂直向下，爪夹合拢，抓取到了白色勺子。",
+            "progress_explanation": "爪夹垂直向下，爪夹合拢，抓取到了白色勺子。因此进度提升为40%",
+            "error_success_analysis": "爪夹合拢，抓取到了白色勺子。",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。"
+        },
+        {
+            "time": 26.342605347034766,
+            "frame": 790,
+            "progress": 60,
+            "action_description": "爪夹抓紧白色勺子垂直升高，向爪夹前方的纸箱移动。",
+            "state_description": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取白色勺子放入纸箱的任务应当：移动爪夹到纸箱正上方后，松开爪夹。使白色勺子落入纸箱。",
+            "progress_explanation": "爪夹抓紧白色勺子，爪夹角度接近垂直于桌面，位于纸箱正上方。方便白色勺子落入纸箱。因此进度提升为60%",
+            "error_success_analysis": "爪夹移动到了纸箱的正上方，方便白色勺子落入纸箱。",
+            "correction_plan": "爪夹垂直向下移动到合适位置停止，松开爪夹，使白色勺子落入纸箱中。"
+        },
+        {
+            "time": 28.645280885314314,
+            "frame": 859,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动。",
+            "state_description": "爪夹抓紧白色勺子到达纸箱正上方，爪夹角度接近垂直于桌面。",
+            "progress_explanation": "爪夹垂直向下移动至合适的位置，爪夹角度接近垂直于桌面，方便白色勺子落入纸箱。因此进度而提升为80%",
+            "error_success_analysis": "爪夹垂直向下移动至合适的位置，爪夹角度接近垂直于桌面，方便白色勺子落入纸箱",
+            "correction_plan": "松开爪夹，使白色勺子落入纸箱。"
+        },
+        {
+            "time": 30.6,
+            "frame": 918,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开，白色勺子落入纸箱，任务目标完成。",
+            "progress_explanation": "爪夹张开，白色勺子落入纸箱。任务完成。因此进度为100%。",
+            "error_success_analysis": "爪夹张开，白色勺子落入纸箱。",
+            "correction_plan": "任务完成"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1766802016031",
+            "name": "白色勺子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1766802022933",
+            "name": "纸箱",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1766802033234",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1766802042561",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-181900-bad-white spoon-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,157 @@
+{
+    "task_description": "抓取白色勺子放入纸箱里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近纸箱：60%\n爪夹将白色勺子放入纸箱：80%\n爪夹松开白色勺子落入纸箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "",
+            "frame": 55,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，爪夹张开，远离黄色方块，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 1.832453449100851
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了锤子，远离了白色勺子。",
+            "frame": 108,
+            "progress": -20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。方便抓取。因此进度降低为-20%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了锤子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。",
+            "time": 3.5994640580511117
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了锤子，爪夹合拢抓取到了锤子。",
+            "frame": 167,
+            "progress": -30,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到锤子。因此进度降低为-30%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取锤子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动搭配白色勺子的正上方。",
+            "time": 5.5628091791069565
+        },
+        {
+            "action_description": "爪夹夹紧锤子，垂直升高，向爪夹前方的纸箱移动，调整爪夹角度。",
+            "correction_plan": "爪夹张开，放下锤子，然后爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动。水平上远离了白色勺子。",
+            "frame": 187,
+            "progress": -40,
+            "progress_explanation": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动，未抓取白色勺子因此进度为-40%",
+            "state_description": "爪夹夹紧锤子升高，向爪夹前方的纸箱移动。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹张开，放下锤子，然后爪夹向爪夹右后方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 6.217257552792239
+        },
+        {
+            "action_description": "爪夹夹紧锤子，向爪夹左方移动，张开爪夹。",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹张开，水平上远离了白色勺子，锤子掉落，爪夹重新抓取白色勺子。",
+            "frame": 220,
+            "progress": -50,
+            "progress_explanation": "爪夹张开，水平上远离了白色勺子，锤子掉落，爪夹重新抓取白色勺子。因此进度为-50%",
+            "state_description": "爪夹张开，水平上远离了白色勺子，锤子掉落在桌面上。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 7.3298197880572165
+        },
+        {
+            "action_description": "爪夹调整角度并向下移动靠近锤子，远离了白色勺子。",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹向下移动远离了白色勺子，需要重新抓取。",
+            "frame": 241,
+            "progress": -10,
+            "progress_explanation": "爪夹向下移动，远离白色勺子，需要重新抓取白色勺子。因此进度为-10%",
+            "state_description": "爪夹向下移动，远离了白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 8.049712999111026
+        },
+        {
+            "action_description": "爪夹合拢，重新调整角度。",
+            "correction_plan": "爪夹向爪夹右方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹重新调整角度，对白色勺子进行抓取。",
+            "frame": 295,
+            "progress": 0,
+            "progress_explanation": "当前爪夹为合拢状态，重新调整爪夹的角度。因此进度为0%",
+            "state_description": "当前爪夹为合拢状态，重新调整爪夹的角度。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 9.816723608061286
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。",
+            "correction_plan": "爪夹合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，方便抓取白色勺子。",
+            "frame": 332,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。方便抓取。因此进度提升为 20%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近。",
+            "time": 11.060175518063323
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，爪夹合拢抓取到了白色勺子。",
+            "frame": 402,
+            "progress": 40,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。因此进度提升为40%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近。",
+            "time": 13.416189663330336
+        },
+        {
+            "action_description": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。",
+            "correction_plan": "接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。需要重新抓取。",
+            "frame": 473,
+            "progress": 30,
+            "progress_explanation": "爪夹抓取白色勺子后垂直升高，白色勺子掉落在桌面上。需要重新抓取。因此进度降低为30%",
+            "state_description": "爪夹抓取到白色勺子后垂直升高，白色勺子掉落在桌面上。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹重新调整角度并重新向下移动，靠近白色勺子。",
+            "time": 15.772203808597348
+        },
+        {
+            "action_description": "爪夹再次合拢",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了白色勺子，爪夹重新合拢抓取到了白色勺子。",
+            "frame": 520,
+            "progress": 40,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹重新合拢抓取到白色勺子。因此进度提升为40%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色勺子。\n为完成抓取白色勺子放入纸箱的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近。",
+            "time": 17.342879905442025
+        },
+        {
+            "action_description": "爪夹夹紧白色勺子，向爪夹右方移动，张开爪夹。",
+            "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使白色勺子落入纸箱。",
+            "error_success_analysis": "爪夹张开，白色勺子掉落屏幕外，需要重新抓取黄色方块",
+            "frame": 599,
+            "progress": -50,
+            "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面下，需要重新抓取白色勺子，因此进度降低为 -50%。",
+            "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面下。\n为完成抓取白色勺子放入纸箱的任务应当：爪夹向爪夹右前方移动，同时调整爪夹爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 19.96067340018315
+        }
+    ],
+    "tags": [
+        "custom2"
+    ],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766999675793",
+            "name": "白色勺子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766999681543",
+            "name": "锤子"
+        },
+        {
+            "color": "#2196F3",
+            "id": "bbox_1766999686888",
+            "name": "纸箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766999696189",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766999707225",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183101-bad-onion-express-box/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,145 @@
+{
+    "task_description": "抓取洋葱放入纸箱里：\n开始准备移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近纸箱：60%\n爪夹将洋葱放入纸箱：80%\n爪夹松开洋葱落入纸箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹左方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，重新靠近了洋葱。方便抓取洋葱。因此进度降低为20%",
+            "frame": 96,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。因此进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。",
+            "time": 3.211385695237603
+        },
+        {
+            "time": 4.987898084408524,
+            "frame": 150,
+            "progress": 20,
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱。因此进度提升为20%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 6.286118676494966,
+            "frame": 189,
+            "progress": 30,
+            "action_description": "爪夹垂直向下移动，接触到洋葱",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。",
+            "progress_explanation": "爪夹垂直向下移动，接触到洋葱。因此进度提升为30%",
+            "error_success_analysis": "爪夹垂直向下移动，接触到洋葱。方便抓取洋葱。",
+            "correction_plan": "爪夹向上移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 8.857970876086956,
+            "frame": 266,
+            "progress": 20,
+            "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，重新靠近了洋葱。因此进度降低为20%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，重新靠近了洋葱。",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 9.770816055253311,
+            "frame": 293,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。",
+            "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左前方���纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 11.965217204347825,
+            "frame": 359,
+            "progress": 50,
+            "action_description": "爪夹夹紧洋葱，垂直升高，向爪夹左后方的纸箱移动，调整爪夹角度。",
+            "state_description": "爪夹夹紧洋葱，移动到爪夹左后方的纸箱正上方\n为完成抓取洋葱放入纸箱的任务应当：爪夹水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。",
+            "progress_explanation": "爪夹夹紧洋葱，移动到了爪夹左后方的纸箱正上方，水平上接近了纸箱。因此进度提升为 50%。",
+            "error_success_analysis": "爪夹夹紧洋葱，移动到了爪夹左后方的纸箱正上方，水平上接近了纸箱。",
+            "correction_plan": "爪夹下降至合适位置后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 13.031883854347827,
+            "frame": 391,
+            "progress": -50,
+            "action_description": "爪夹夹紧洋葱，向爪夹左方移动，张开爪夹。",
+            "state_description": "爪夹张开，水平上远离了洋葱，方块掉落桌面上\n为完成抓取洋葱放入纸箱的任务应当：调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。",
+            "progress_explanation": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面上，需要重新抓取洋葱，因此进度降低为 -50%。",
+            "error_success_analysis": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面上，需要重新抓取洋葱",
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 14.284057747826088,
+            "frame": 429,
+            "progress": 20,
+            "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱。因此进度提升为20%",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取洋葱",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 15.346964,
+            "frame": 460,
+            "progress": 40,
+            "action_description": "爪夹再次合拢",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取到洋葱。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹再次合拢抓取到洋葱。",
+            "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 17.62318813043478,
+            "frame": 529,
+            "progress": -45,
+            "action_description": "爪夹夹紧洋葱，垂直升高，向爪夹右前方的蓝色盘子移动，调整爪夹角度。",
+            "state_description": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹左前方的纸箱接近，水平到达纸箱的正上方。",
+            "progress_explanation": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方，水平上接近了纸箱。因此进度降低为 -45%。",
+            "error_success_analysis": "爪夹夹紧洋葱，移动到爪夹右前方的蓝色盘子正上方，水平上接近了纸箱。",
+            "correction_plan": "爪夹向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        },
+        {
+            "time": 20.284457,
+            "frame": 609,
+            "progress": -50,
+            "action_description": "爪夹夹紧洋葱，向爪夹右方移动，张开爪夹。",
+            "state_description": "爪夹张开，水平上远离了洋葱，方块掉落桌面下\n���完成抓取洋葱放入纸箱的任务应当：调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。",
+            "progress_explanation": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面下，需要重新抓取洋葱，因此进度降低为 -50%。",
+            "error_success_analysis": "爪夹张开，洋葱掉落桌面下，需要重新抓取洋葱",
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767149486021",
+            "name": "洋葱",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767149486197",
+            "name": "纸箱",
+            "color": "#FF9800"
+        },
+        {
+            "id": "bbox_1767149486336",
+            "name": "蓝色盘子",
+            "color": "#2196F3"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767149502729",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767149502943",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-183800-mix-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json

@@ -0,0 +1,140 @@
+{
+    "task_description": "抓取白色勺子放入电饭煲内胆里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近电饭煲内胆：60%\n爪夹将白色勺子放入电饭煲内胆：80%\n爪夹松开白色勺子电饭煲内胆：100%",
+    "progress_points": [
+        {
+            "time": 2.222871,
+            "frame": 67,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 4.454064,
+            "frame": 134,
+            "progress": -20,
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了茄子。准备抓茄子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茄子。因此进度降低为 -20%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了茄子。远离了白色勺子。",
+            "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 6.06037,
+            "frame": 182,
+            "progress": -40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢未抓取茄子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "爪夹合拢未抓取到茄子，因此进度为-40%",
+            "error_success_analysis": "爪夹合拢未抓取到茄子，需要重新抓取zh白色勺子。",
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 7.361739130434783,
+            "frame": 221,
+            "progress": -20,
+            "action_description": "爪夹向上移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了茄子。准备抓茄子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茄子。因此进度降低为 -20%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了茄子。远离了白色勺子。",
+            "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 8.693986,
+            "frame": 261,
+            "progress": -40,
+            "action_description": "爪夹再次合拢",
+            "state_description": "爪夹合拢未抓取茄子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "爪夹合拢未抓取到茄子，因此进度为-40%",
+            "error_success_analysis": "爪夹合拢未抓取到茄子，需要重新抓取zh白色勺子。",
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 10.510434782608696,
+            "frame": 315,
+            "progress": 20,
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为 20%。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。",
+            "correction_plan": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 11.6484,
+            "frame": 349,
+            "progress": 30,
+            "action_description": "爪夹合拢，抓取白色勺子失败",
+            "state_description": "爪夹合拢，抓取白色勺子失败。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：重新落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近",
+            "progress_explanation": "爪夹合拢，抓取白色勺子失败，因此进度为30%",
+            "error_success_analysis": "爪夹合拢，抓取白色勺子失败，需要重新抓取",
+            "correction_plan": "落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 14.989565217391302,
+            "frame": 450,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近",
+            "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 17.166829,
+            "frame": 515,
+            "progress": 60,
+            "action_description": "爪夹夹紧白色勺子，向爪夹右前方移动",
+            "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面，位于电饭煲内胆正上方。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。",
+            "progress_explanation": "爪夹夹紧白色勺子，到了爪夹右前方的电饭煲内胆正上方。因此进度提升为 60%。",
+            "error_success_analysis": "爪夹夹紧白色勺子，到了爪夹右前方的电饭煲内胆正上方。",
+            "correction_plan": "爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 18.2172,
+            "frame": 547,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适位置，因此进度提升为 80%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降至合适位置，",
+            "correction_plan": "松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 20.4,
+            "frame": 612,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取白色勺子放入电饭煲内胆的任务目标完成。",
+            "progress_explanation": "爪夹张开，白色勺子落入电饭煲内胆，任务完成。因此进度提升为 100%。",
+            "error_success_analysis": "爪夹张开，白色勺子落入电饭煲内胆",
+            "correction_plan": "任务完成"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766383713077",
+            "name": "白色勺子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766383714407",
+            "name": "电饭煲内胆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766383715886",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766383716479",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-130957-bad-white spoon-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,100 @@
+{
+    "task_description": "抓取白色勺子放入电饭煲内胆里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近电饭煲内胆：60%\n爪夹将白色勺子放入电饭煲内胆：80%\n爪夹松开白色勺子落入电饭煲内胆：100%",
+    "progress_points": [
+        {
+            "time": 0.46849,
+            "frame": 14,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方",
+            "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 3.575230137240055,
+            "frame": 107,
+            "progress": 20,
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为 20%。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。",
+            "correction_plan": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 5.500354702898318,
+            "frame": 165,
+            "progress": 40,
+            "action_description": "爪夹合拢",
+            "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 6.639714139716475,
+            "frame": 199,
+            "progress": 0,
+            "action_description": "爪夹张开，未抓取到白色勺子。",
+            "state_description": "爪夹张开，未抓取到白色勺子。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近。",
+            "progress_explanation": "爪夹张开，未抓取到白色勺子。因此进度为0%",
+            "error_success_analysis": "爪夹张开，未抓取到白色勺子。需要重新抓取。",
+            "correction_plan": "爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 7.504055781440593,
+            "frame": 225,
+            "progress": 40,
+            "action_description": "爪夹再次合拢",
+            "state_description": "爪夹再次合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近",
+            "progress_explanation": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。因此进度提升为 40%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子。",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 9.272027321330835,
+            "frame": 278,
+            "progress": 50,
+            "action_description": "爪夹夹紧白色勺子，垂直升高，向爪夹左后方的电饭煲内胆移动，调整爪夹角度。",
+            "state_description": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹水平到达电饭煲内胆的正上方后，爪夹下降至合适位置。",
+            "progress_explanation": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方，方便白色勺子落入电饭煲内胆。因此进度为50%",
+            "error_success_analysis": "爪夹夹紧白色勺子，移动到爪夹左后方的电饭煲内胆正上方，方便白色勺子落入电饭煲内胆。",
+            "correction_plan": "水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        },
+        {
+            "time": 12.266667,
+            "frame": 368,
+            "progress": -50,
+            "action_description": "爪夹夹紧白色勺子，向爪夹左方移动，张开爪夹。",
+            "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面上。\n为完成抓取白色勺子放入电饭煲内胆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方",
+            "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落桌面上，需要重新抓取白色勺子，因此进度降低为 -50%。",
+            "error_success_analysis": "爪夹张开，白色勺子掉落桌面上，需要重新抓取白色勺子，",
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使白色勺子落入电饭煲内胆。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766389348052",
+            "name": "白色勺子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766389348307",
+            "name": "电饭煲内胆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766389349665",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766389349882",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131249-good-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,110 @@
+{
+    "task_description": "抓取洋葱放入电饭煲内胆里：\n准备开始移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近电饭煲内胆：60%\n爪夹将洋葱放入电饭煲内胆：80%\n爪夹松开洋葱落入电饭煲内胆：100%",
+    "progress_points": [
+        {
+            "time": 2.044695692738897,
+            "frame": 61,
+            "progress": 0,
+            "action_description": "爪夹张开，未开始移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。",
+            "progress_explanation": "当前为初始状态，远离洋葱，未开始移动。进度 0%。",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。"
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取。",
+            "frame": 133,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取。因此进度提升为20%",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近",
+            "time": 4.430176023131009
+        },
+        {
+            "action_description": "爪夹垂直升高，重新调整爪夹的角度",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。",
+            "error_success_analysis": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。",
+            "frame": 208,
+            "progress": 25,
+            "progress_explanation": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。因此进度提升为25%",
+            "state_description": "爪夹向上垂直升高，爪夹重新调整角度并进行抓取。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近\n",
+            "time": 6.929250654970365
+        },
+        {
+            "action_description": "爪夹再次垂直升高，重新调整爪夹的角度",
+            "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。",
+            "error_success_analysis": "爪夹再次向上垂直升高，爪夹重新调整角度并进行抓取。",
+            "frame": 286,
+            "progress": 30,
+            "progress_explanation": "爪夹再次上垂直升高，爪夹重新调整角度并进行抓取。因此进度提升为30%",
+            "state_description": "爪夹再次向上垂直升高，爪夹重新调整角度并进行抓取。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近\n",
+            "time": 9.541919588256963
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。",
+            "error_success_analysis": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。方便爪夹合拢抓取到洋葱。",
+            "frame": 368,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到洋葱，因此进度提升为 40%。",
+            "state_description": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。\n为完成���取洋葱放入电饭煲内胆的任务应当：爪夹抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹右前方的电饭煲内胆接近",
+            "time": 12.268182822990806
+        },
+        {
+            "time": 14.540068851935674,
+            "frame": 436,
+            "progress": 60,
+            "action_description": "爪夹夹紧洋葱，向爪夹右前方移动",
+            "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，位于电饭煲内胆正上方。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。",
+            "progress_explanation": "爪夹夹紧洋葱，到了爪夹右前方的电饭煲内胆正上方，方便洋葱落入电饭煲内胆。因此进度提升为60%",
+            "error_success_analysis": "爪夹夹紧洋葱，到了爪夹右前方的电饭煲内胆正上方，方便洋葱落入电饭煲内胆",
+            "correction_plan": "爪夹下降至合适位置，松开爪夹，使洋葱落入电饭煲内胆。"
+        },
+        {
+            "time": 16.187186222920705,
+            "frame": 486,
+            "progress": 80,
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，水平到达电饭煲内胆的正上方后爪夹下降至合适位置。\n为完成抓取洋葱放入电饭煲内胆的任务应当：松开爪夹，使洋葱落入电饭煲内胆。",
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置。因此进度提升为 80%。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹水平到达电饭煲内胆的正上方后爪夹下降至合适位置。",
+            "correction_plan": "松开爪夹，使洋葱落入电饭煲内胆。"
+        },
+        {
+            "time": 17.733333,
+            "frame": 532,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开洋葱落入电饭煲内胆的任务目标完成。",
+            "progress_explanation": "爪夹张开，洋葱落入电饭煲内胆，任务完成。因此进度提升为 100%。",
+            "error_success_analysis": "爪夹张开，洋葱落入电饭煲内胆。",
+            "correction_plan": "抓取洋葱落入电饭煲内胆，任务完成。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767146173057",
+            "name": "洋葱",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767146173234",
+            "name": "电饭煲内胆",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767146183078",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767146183244",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-131627-good-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,90 @@
+{
+    "task_description": "抓取白色勺子放入透明盆里：\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近透明盆：60%\n爪夹将白色勺子放入透明盆：80%\n爪夹松开白色勺子落入透明盆：100%",
+    "progress_points": [
+        {
+            "time": 1.841635748885386,
+            "frame": 55,
+            "progress": 0,
+            "action_description": "爪夹张开，爪夹未移动。",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度 0%。",
+            "error_success_analysis": "",
+            "correction_plan": "爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。"
+        },
+        {
+            "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度\n",
+            "correction_plan": "爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取。",
+            "frame": 139,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为 20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹左后方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。",
+            "time": 4.644126791216176
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色勺子",
+            "frame": 219,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为40%",
+            "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入透明盆的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹右前方的透明盆接近",
+            "time": 7.286475488270922
+        },
+        {
+            "action_description": "爪夹夹紧白色勺子，向爪夹右前方移动",
+            "correction_plan": "爪夹水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "白色勺子到了爪夹右前方的透明盆正上方，方便白色勺子落入透明盆。",
+            "frame": 258,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧白色勺子，到了爪夹右前方的透明盆正上方，方便白色勺子落入透明盆。因此进度提升为 60%。",
+            "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，位于透明盆正上方。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "time": 8.607649836798295
+        },
+        {
+            "action_description": "爪夹调整角度，垂直向下移动",
+            "correction_plan": "松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹在透明盆正上方。",
+            "frame": 313,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹在透明盆正上方。因此进度提升为 80%。",
+            "state_description": "爪夹夹紧白色勺子，爪夹角度接近垂直于桌面，爪夹水平移动到透明盆正上方并下降到合适位置停止。\n为完成抓取白色勺子放入透明盆的任务应当：松开爪夹，使白色勺子落入透明盆。",
+            "time": 10.449286807472815
+        },
+        {
+            "time": 12.5,
+            "frame": 375,
+            "progress": 100,
+            "action_description": "爪夹张开",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。\n抓取白色勺子放入透明盆的任务完成",
+            "progress_explanation": "爪夹张开，白色勺子落入透明盆中，任务完成。因此进度为100%",
+            "error_success_analysis": "爪夹张开，白色勺子落入透明盆中",
+            "correction_plan": "抓取白色勺子放入透明盆的任务完成"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1767144632838",
+            "name": "白色勺子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1767144633477",
+            "name": "透明盆",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1767144644233",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1767144644767",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134458-bad-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,137 @@
+{
+    "task_description": "抓取白色勺子放入透明盆里：\n开始准备移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近透明盆：60%\n爪夹将白色勺子放入透明盆：80%\n爪夹松开白色勺子落入透明盆：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "correction_plan": "爪夹向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "",
+            "frame": 60,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动，因此进度为0%",
+            "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向爪夹前方的白色勺子移动，同时调整爪夹角度使其垂直于桌面，并移动到白色勺子正上方。",
+            "time": 1.9848024736173036
+        },
+        {
+            "action_description": "爪夹向前方移动并垂直向下移动，调整爪夹角度",
+            "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹垂直向下移动，靠近了白色勺子，方便抓取。",
+            "frame": 127,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色勺子。方便抓取，因此进度提升为20%。",
+            "state_description": "爪夹角度接近垂直于桌面，靠近了白色勺子。准备抓取白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近。",
+            "time": 4.218084139046392
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹角度接近锤至于桌面，方便爪夹合拢抓取到白色勺子。",
+            "frame": 162,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到白色勺子。因此进度提升为40%",
+            "state_description": "爪夹合拢抓取到白色勺子，爪夹角度与桌面接近垂直。\n为完成抓取白色勺子放入透明盆的任务应当：抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近",
+            "time": 5.412585842139175
+        },
+        {
+            "action_description": "爪夹抓紧白色勺子，向爪夹左方移动，张开爪夹。",
+            "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹张开，白色勺子掉落在桌面上，需要重新抓取白色勺子",
+            "frame": 232,
+            "progress": -50,
+            "progress_explanation": "爪夹张开，水平上远离了白色勺子，白色勺子掉落在桌面上，需要重新抓取白色勺子，因此进度降低为-50%",
+            "state_description": "爪夹张开，水平上远离了白色勺子，白色勺子掉落在桌面上，爪夹角度与桌面成呈30°\n为完成抓取白色勺子放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，并移动到透明盆的正上方。",
+            "time": 7.74729371636598
+        },
+        {
+            "action_description": "爪夹向下垂直移动，并合拢爪夹",
+            "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹的左方移动，同时调整爪夹二点角度使其垂直于桌面，并移动到白色勺子的正上方。接近白色勺子后合拢爪夹抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到白色勺子，水平上远离了白色勺子。",
+            "frame": 417,
+            "progress": -20,
+            "progress_explanation": "爪夹未抓取到白色勺子，并在水平上远离了白色勺子。需要多两步抓取，张开爪夹，垂直向上升高，因此进度降低为-20%",
+            "state_description": "爪夹张开，抓取到白色勺子。水平上未靠近白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹张开，爪夹向上垂直升高，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方。",
+            "time": 13.886082298453609
+        },
+        {
+            "action_description": "爪夹向左移动，同时降低角度使爪夹垂直于桌面。",
+            "correction_plan": "爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹向左移动，同时降低角度使爪夹接近垂直于桌面，接近了菠菜，并未接近白色勺子。",
+            "frame": 469,
+            "progress": -10,
+            "progress_explanation": "爪夹向左移动，爪夹接近垂直于桌面，接近了菠菜，并未接近白色勺子，需要多义词爪夹向上垂直升高。因此进度降低为-10%",
+            "state_description": "爪夹向左移动，同时降低角度使爪夹垂直于桌面，接近了白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹向上垂直升高并向爪夹左方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子的正上方",
+            "time": 15.620145850386598
+        },
+        {
+            "action_description": "爪夹向下垂直移动，并合拢爪夹。",
+            "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接近黄色积木后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到菠菜。水平上未靠近白色勺子。",
+            "frame": 521,
+            "progress": -20,
+            "progress_explanation": "爪夹抓取到菠菜。水平上未靠近白色勺子。需要多两步张开爪夹，垂直向上升高，因此进度降低为-20%",
+            "state_description": "爪夹合拢，抓取到菠菜。水平上未靠近白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹前方的白色勺子移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色勺子正上方。",
+            "time": 17.36099634381443
+        },
+        {
+            "action_description": "爪夹合拢",
+            "correction_plan": "爪夹垂直升高并向白色勺子正上方移动，水平上接近白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆的正上方后，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹垂直于桌面合拢，抓取到了菠菜，未抓取到白色勺子，需要重新抓取。",
+            "frame": 542,
+            "progress": -30,
+            "progress_explanation": "爪夹垂直于桌面合拢，抓取到了菠菜，需要重新抓取，因此进度降低到-30%",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取菠菜。\n为完成抓取白色勺子放入透明盆的任务应当：放下菠菜，重新抓取白色勺子，抓紧白色勺子垂直升高并向爪夹左前方的透明盆接近。",
+            "time": 18.063444788530926
+        },
+        {
+            "action_description": "爪夹抓紧菠菜，垂直升高，向爪夹右前方移动，调整爪夹角度。",
+            "correction_plan": "放下菠菜，调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹夹紧菠菜，移动到爪夹右前方，水平上远离了透明盆",
+            "frame": 603,
+            "progress": -40,
+            "progress_explanation": "爪夹夹紧菠菜，移动到爪夹右前方，水平上远离了透明盆，需要重新抓取。因此进度降低为-40%",
+            "state_description": "爪夹夹紧菠菜，移动到爪夹右前方，调整爪夹角度水平呈30°。\n为完成抓取白色勺子放入透明盆的任务应当：放下菠菜，调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。",
+            "time": 20.10292070773196
+        },
+        {
+            "action_description": "爪夹夹紧菠菜，向爪夹右前方移动，张开爪夹。",
+            "correction_plan": "调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。",
+            "error_success_analysis": "爪夹张开，菠菜掉落，水平上远离了白色勺子。",
+            "frame": 669,
+            "progress": -50,
+            "progress_explanation": "爪夹张开，菠菜掉落，水平上远离了白色勺子，需要重新抓取白色勺子。因此进度降低为-50%",
+            "state_description": "爪夹张开，水平上远离了白色勺子。\n为完成抓取白色勺子放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，并向爪夹前方的白色勺子水平移动，爪夹移动至白色勺子的正上方，垂直向下抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹左前方的透明盆接近，爪夹移动至透明盆正上方停止，松开爪夹，使白色勺子落入透明盆。",
+            "time": 22.29849628131443
+        }
+    ],
+    "tags": [
+        "custom2"
+    ],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766648390022",
+            "name": "白色勺子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766648400143",
+            "name": "菠菜"
+        },
+        {
+            "color": "#2196F3",
+            "id": "bbox_1766648415929",
+            "name": "透明盆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766648438156",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766648446636",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-141543-good-onion-plate/annotations/chunk-000/observation.images.front/episode_000003.json

@@ -0,0 +1,453 @@
+{
+    "task_description": "抓起洋葱使其落入盘中\n开始移动0%\n爪夹靠近洋葱20%\n爪夹抓取洋葱40%\n爪夹抓住洋葱靠近盘子60%\n爪夹将洋葱放入盘子80%\n爪夹松开，洋葱落入盘子100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.1413333333333334,
+                            "id": "bbox_1766471475795_1766471498690_ag13ro5jg",
+                            "width": 0.1,
+                            "x": 0.6895,
+                            "y": 0.7546666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.32666666666666655,
+                            "id": "bbox_1766479029365_1766479036697_mgbcv6a0b",
+                            "width": 0.238,
+                            "x": 0.42350000000000004,
+                            "y": 0.6413333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471588275_tv6jornst",
+                            "x": 0.43950000000000006,
+                            "y": 0.36800000000000005
+                        },
+                        {
+                            "id": "point_1766471549914_1766471599074_ejzwxqp5c",
+                            "x": 0.5425,
+                            "y": 0.35866666666666663
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抬升张开，向爪夹方向左前方移动至洋葱位置后下降，抓取洋葱后保持爪夹合拢状态抬升爪夹，向爪夹方向右方移动至盘子位置后下降并松开爪夹，使洋葱落入盘中",
+            "error_success_analysis": "",
+            "frame": 51,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%",
+            "state_description": "当前状态为启动状态，爪夹张开，远离洋葱，未开始移动，\n为完成将洋葱放入盘子中的任务应当：爪夹向爪夹左上方移动至洋葱位置后下降",
+            "time": 1.692
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升移动",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.13466666666666663,
+                            "id": "bbox_1766471475795_1766471611082_fkou5dal4",
+                            "width": 0.09699999999999998,
+                            "x": 0.6935,
+                            "y": 0.7586666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.33999999999999997,
+                            "id": "bbox_1766479029365_1766479041049_15wh8cm7e",
+                            "width": 0.258,
+                            "x": 0.41550000000000004,
+                            "y": 0.628
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471613413_k23y8fw12",
+                            "x": 0.4305,
+                            "y": 0.3
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471616046_1jiapysf5",
+                            "x": 0.5465,
+                            "y": 0.24800000000000003
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹张开状态，并向爪夹方向左前方移动至洋葱位置后下降，合拢爪夹后保持爪夹合拢状态抬升并向爪夹方向右方移动至盘子上方，下降并松开爪夹，使洋葱落入盘中",
+            "error_success_analysis": "爪夹张开向上抬升并成功向洋葱方向移动",
+            "frame": 93,
+            "progress": 10,
+            "progress_explanation": "爪夹张开并向上抬升移动，进度上升至10%",
+            "state_description": "当前状态为爪夹张开，位于洋葱右后方，洋葱尚未被抓起。\n为完成把洋葱放入盘子中的任务应当：向爪夹方向左前方移动至洋葱上方后下降",
+            "time": 3.1
+        },
+        {
+            "action_description": "爪夹向爪夹方向左前方移动",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.13600000000000007,
+                            "id": "bbox_1766471475795_1766471628507_nnyxns92m",
+                            "width": 0.09400000000000004,
+                            "x": 0.6915,
+                            "y": 0.756
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.3293333333333334,
+                            "id": "bbox_1766479029365_1766479044814_5nxvutxqs",
+                            "width": 0.238,
+                            "x": 0.42750000000000005,
+                            "y": 0.64
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471624650_7ydb11t84",
+                            "x": 0.7065,
+                            "y": 0.7426666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471622666_49mgod8rq",
+                            "x": 0.8074999999999999,
+                            "y": 0.6839999999999999
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向下移动抓取洋葱后抬升，向右移动至盘子上方后下降并张开爪夹",
+            "error_success_analysis": "爪夹抬起后并朝爪夹方向左前方洋葱位置移动",
+            "frame": 160,
+            "progress": 30,
+            "progress_explanation": "爪夹接近洋葱距离完成任务更进一步，进度小幅增长至30%",
+            "state_description": "当前状态为爪夹张开，位于洋葱上方。\n为完成把洋葱放入盘子中的任务应当：向下移动并抓取洋葱，保持爪夹合拢抬升移动",
+            "time": 5.331541237113402
+        },
+        {
+            "action_description": "爪夹向爪夹方向下方移动",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.12266666666666666,
+                            "id": "bbox_1766471475795_1766471640211_0o2vbakla",
+                            "width": 0.08700000000000001,
+                            "x": 0.7025,
+                            "y": 0.7653333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.32533333333333325,
+                            "id": "bbox_1766479029365_1766479047925_h0wgkcrec",
+                            "width": 0.263,
+                            "x": 0.40750000000000003,
+                            "y": 0.6306666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471644522_n4140d0gx",
+                            "x": 0.6985,
+                            "y": 0.8506666666666667
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+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471647538_e7m8eetga",
+                            "x": 0.7945,
+                            "y": 0.8133333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹收紧状态，抬升并向右移动至盘子上方，之后下降至盘子内后张开爪夹，使洋葱落入盘中即可",
+            "error_success_analysis": "爪夹向下移动至洋葱位置并成功抓取洋葱",
+            "frame": 207,
+            "progress": 50,
+            "progress_explanation": "爪夹夹中洋葱，距离完成任务更进一步，进度提升至50%",
+            "state_description": "当前状态为合拢，抓紧洋葱，洋葱已被抓取。为完成把洋葱放入盘子中的任务应当：抬起爪夹向右移动",
+            "time": 6.888571428571427
+        },
+        {
+            "action_description": "爪夹由张开变为合拢",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.1146666666666666,
+                            "id": "bbox_1766471475795_1767085969318_9y4qkr6be",
+                            "width": 0.08400000000000007,
+                            "x": 0.7165,
+                            "y": 0.7586666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.3026666666666666,
+                            "id": "bbox_1766479029365_1767085973613_nbipt4znt",
+                            "width": 0.24000000000000005,
+                            "x": 0.4285,
+                            "y": 0.6693333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "继续保持爪夹合拢，向上抬升，继续保持爪夹合拢向爪夹方向右方移动至盘子位置后下降，下降至盘子内松开爪夹，使洋葱落入盘中",
+            "error_success_analysis": "爪夹成功合拢，洋葱已被成功抓取",
+            "frame": 251,
+            "progress": 60,
+            "progress_explanation": "洋葱已被抓取，因此进度提升至60%",
+            "state_description": "当前状态为爪夹合拢，洋葱已被抓取。\n为完成将洋葱放入盘中的任务应当：继续保持爪夹合拢，向上抬升，继续保持爪夹合拢向爪夹方向右方移动至盘子位置后下降",
+            "time": 8.375
+        },
+        {
+            "action_description": "爪夹向爪夹方向上方抬升",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.14533333333333331,
+                            "id": "bbox_1766471475795_1766471662950_ca7k1v9c1",
+                            "width": 0.09100000000000011,
+                            "x": 0.7095,
+                            "y": 0.5893333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.33733333333333326,
+                            "id": "bbox_1766479029365_1766479056777_hj0sthhjb",
+                            "width": 0.263,
+                            "x": 0.4175,
+                            "y": 0.6306666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471657326_zwn7jkxcq",
+                            "x": 0.7175,
+                            "y": 0.6920000000000001
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471659458_wdhxjec7e",
+                            "x": 0.8125,
+                            "y": 0.68
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹收紧状态，夹住洋葱向右移动至盘子上方后下降，下降至盘子内后，松开爪夹使洋葱落入盘中",
+            "error_success_analysis": "爪夹成功合拢，洋葱被爪夹成功抓取",
+            "frame": 318,
+            "progress": 70,
+            "progress_explanation": "爪夹夹起洋葱，距完成任务更进一步，进度小幅增长至70%",
+            "state_description": "当前状态为合拢，抓紧洋葱，洋葱已被抬起至空中。为完成把洋葱放入盘子中的任务应当：保持合拢状态向右移动至盘子上方后下降",
+            "time": 10.589
+        },
+        {
+            "action_description": "爪夹向爪夹方向右方移动",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.1413333333333334,
+                            "id": "bbox_1766471475795_1766471672854_mp0w2wp92",
+                            "width": 0.08899999999999997,
+                            "x": 0.5065000000000001,
+                            "y": 0.7
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.3293333333333333,
+                            "id": "bbox_1766479029365_1766479059829_kz1bkkpj4",
+                            "width": 0.30299999999999994,
+                            "x": 0.40650000000000003,
+                            "y": 0.6333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471675286_ifixsb815",
+                            "x": 0.5015,
+                            "y": 0.7893333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471677406_l23zw94mw",
+                            "x": 0.6015,
+                            "y": 0.7786666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹，使得洋葱落入盘中即可",
+            "error_success_analysis": "爪夹保持合拢状态并向爪夹方向右方移动",
+            "frame": 379,
+            "progress": 80,
+            "progress_explanation": "爪夹已将洋葱移至盘中，进度上涨至80%",
+            "state_description": "当前状态为合拢，抓紧洋葱，洋葱已被移至盘子。为完成把洋葱放入盘子中的任务应当：松开爪夹",
+            "time": 12.628
+        },
+        {
+            "action_description": "张开爪夹",
+            "annotations": {
+                "bbox_1766471475795": {
+                    "instances": [
+                        {
+                            "height": 0.12399999999999996,
+                            "id": "bbox_1766471475795_1766471689263_306bekqwn",
+                            "width": 0.10099999999999998,
+                            "x": 0.49350000000000005,
+                            "y": 0.7866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766479029365": {
+                    "instances": [
+                        {
+                            "height": 0.3106666666666667,
+                            "id": "bbox_1766479029365_1766479063369_65zqg0emn",
+                            "width": 0.25,
+                            "x": 0.4245,
+                            "y": 0.648
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766471549914": {
+                    "instances": [
+                        {
+                            "id": "point_1766471549914_1766471685995_oi4q7uco8",
+                            "x": 0.5085,
+                            "y": 0.768
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766471589839": {
+                    "instances": [
+                        {
+                            "id": "point_1766471589839_1766471683751_ts1pe9a1a",
+                            "x": 0.6145,
+                            "y": 0.7573333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "任务完成，爪夹归位",
+            "error_success_analysis": "爪夹成功移动至盘子上方并把洋葱放入盘子",
+            "frame": 401,
+            "progress": 100,
+            "progress_explanation": "洋葱已被爪夹移至盘中，进度上涨至100%",
+            "state_description": "当前状态为爪夹张开，洋葱已落入盘中任务完成",
+            "time": 13.354951546391753
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766471475795",
+            "name": "洋葱"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766479029365",
+            "name": "盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766471549914",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766471589839",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-150335-good-onion-bowl/annotations/chunk-000/observation.images.front/episode_000008.json

@@ -0,0 +1,468 @@
+{
+    "task_description": "把洋葱放进碗里。\n开始移动0%\n爪夹靠近洋葱20%\n爪夹抓取洋葱40%\n爪夹抓取洋葱接近碗60%\n爪夹将洋葱放入碗里80%\n爪夹松开，洋葱落入碗里100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
+                        {
+                            "height": 0.1,
+                            "id": "bbox_1766477905112_1766477941136_g1ckgrsnk",
+                            "width": 0.07799999999999993,
+                            "x": 0.7705,
+                            "y": 0.34933333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.2746666666666666,
+                            "id": "bbox_1766477912166_1766477951250_wy3qx76v8",
+                            "width": 0.21900000000000003,
+                            "x": 0.2125,
+                            "y": 0.5866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766477955456_j6nnd5n44",
+                            "x": 0.4525,
+                            "y": 0.36933333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766477958094_adazwl96u",
+                            "x": 0.5485,
+                            "y": 0.35733333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左边移动，到达洋葱正上方后竖直下降，抓取洋葱后竖直上升，继续向爪夹方向的右前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "",
+            "frame": 46,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%",
+            "state_description": "爪夹当前处于打开状态，没有移动和接触洋葱。\n为了完成把洋葱放进碗里的任务应该：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左边移动，准备抓取洋葱",
+            "time": 1.5333333333333334
+        },
+        {
+            "action_description": "爪夹开始向上运动，调整爪夹角度",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
+                        {
+                            "height": 0.1,
+                            "id": "bbox_1766477905112_1766478041279_b09k57mmk",
+                            "width": 0.07599999999999998,
+                            "x": 0.7715,
+                            "y": 0.348
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.26933333333333337,
+                            "id": "bbox_1766477912166_1766478058210_4so8txe5t",
+                            "width": 0.22000000000000003,
+                            "x": 0.21150000000000002,
+                            "y": 0.5893333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766478070526_zsesmdnfg",
+                            "x": 0.43950000000000006,
+                            "y": 0.24800000000000003
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766478075452_cdpe04nfa",
+                            "x": 0.5465,
+                            "y": 0.224
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左边移动，到达洋葱正上方后竖直下降，抓取洋葱后竖直上��，继续向爪夹方向的右前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "爪夹向上方抬升并调整爪夹角度",
+            "frame": 85,
+            "progress": 10,
+            "progress_explanation": "目前爪夹开始向上移动并调整角度，进度提升为10%",
+            "state_description": "爪夹位于洋葱的右后方，爪夹保持打开状态\n为了完成把洋葱放进碗里的任务应该：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动，准备抓取洋葱",
+            "time": 2.8333333333333335
+        },
+        {
+            "action_description": "爪夹向左后方移动至洋葱之上方，爪夹角度垂直与桌面，爪夹接近洋葱",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
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+                            "id": "bbox_1766477905112_1766478860854_uuxp6o3sp",
+                            "width": 0.075,
+                            "x": 0.7715,
+                            "y": 0.3466666666666667
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+                    ],
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+                "bbox_1766477912166": {
+                    "instances": [
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+                            "id": "bbox_1766477912166_1766478888709_044mxrqeg",
+                            "width": 0.219,
+                            "x": 0.21350000000000002,
+                            "y": 0.5906666666666667
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
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+                            "x": 0.7995,
+                            "y": 0.38666666666666666
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+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766478897580_hzd9g5lxt",
+                            "x": 0.8385,
+                            "y": 0.3266666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "使爪夹竖直下降，抓取洋葱后竖直上升，继续向爪夹方向的右前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "向爪夹方向的左后方成功移动至洋葱的正上方",
+            "frame": 132,
+            "progress": 20,
+            "progress_explanation": "爪夹开始左后方移动并调整爪夹角度垂直于桌面，爪夹接近洋葱，进度提升为20%",
+            "state_description": "爪夹目前是打开状态，并位于洋葱的正上方\n为了完成把洋葱放进碗里的任务应该：位于洋葱正上方的爪夹垂直下落做抓取洋葱的动作",
+            "time": 4.398556701030928
+        },
+        {
+            "action_description": "爪夹持续下落后准备做抓取洋葱动作",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
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+                            "id": "bbox_1766477905112_1766479753822_ajfvk1s3r",
+                            "width": 0.07599999999999998,
+                            "x": 0.7685000000000001,
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+                },
+                "bbox_1766477912166": {
+                    "instances": [
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+                            "id": "bbox_1766477912166_1766479759897_io9e024zk",
+                            "width": 0.21900000000000003,
+                            "x": 0.21349999999999997,
+                            "y": 0.5906666666666668
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766479775713_kzc2kdsos",
+                            "x": 0.7845,
+                            "y": 0.484
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹闭合抓取洋葱后竖直上升，继续向爪夹���向的右前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "爪夹垂直下落后洋葱位于爪夹中间",
+            "frame": 168,
+            "progress": 30,
+            "progress_explanation": "抓取物洋葱处于爪夹中间即将开始进行抓取动作，进度提升为30%",
+            "state_description": "爪夹处于打开状态，抓取物洋葱在爪夹中间\n为了完成把洋葱放进碗里的任务应该：开始进行夹取洋葱的动作并向爪夹的右前方移动",
+            "time": 5.6
+        },
+        {
+            "action_description": "爪夹闭合成功夹取洋葱",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
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+                            "height": 0.136,
+                            "id": "bbox_1766477905112_1766480415799_rhuy2j6yv",
+                            "width": 0.08999999999999994,
+                            "x": 0.6935,
+                            "y": 0.08933333333333333
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.2706666666666667,
+                            "id": "bbox_1766477912166_1766480431869_6n7vd8vvq",
+                            "width": 0.219,
+                            "x": 0.21250000000000005,
+                            "y": 0.5906666666666667
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766480439426_2606lls07",
+                            "x": 0.7365,
+                            "y": 0.24133333333333334
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+                    ],
+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766480442529_8jn643qfk",
+                            "x": 0.7875,
+                            "y": 0.20400000000000001
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹抓取洋葱后继续竖直上升，继续向爪夹方向的右前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "爪夹成功闭合夹取洋葱",
+            "frame": 251,
+            "progress": 40,
+            "progress_explanation": "爪夹闭合成功抓取洋葱，进度提升为40%",
+            "state_description": "爪夹当前成功夹取洋葱，向爪夹的左前方移动\n为了完成把洋葱放进碗里的任务应该：爪夹继续向右前方移动至碗的正上方",
+            "time": 8.366666666666667
+        },
+        {
+            "action_description": "爪夹抓取洋葱后向右前方移动，接近碗",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
+                        {
+                            "height": 0.12799999999999995,
+                            "id": "bbox_1766477905112_1766480850933_dz1tsbpy1",
+                            "width": 0.09900000000000002,
+                            "x": 0.3405,
+                            "y": 0.5066666666666667
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.26800000000000007,
+                            "id": "bbox_1766477912166_1766480857832_25gh32djz",
+                            "width": 0.22099999999999995,
+                            "x": 0.21350000000000002,
+                            "y": 0.592
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766480868389_en7xgf4j0",
+                            "x": 0.3545,
+                            "y": 0.6519999999999999
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+                    ],
+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766480871516_4uapmnywf",
+                            "x": 0.4385,
+                            "y": 0.6373333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向右边移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。",
+            "error_success_analysis": "爪夹向右前方成功移动至碗的左上方",
+            "frame": 284,
+            "progress": 60,
+            "progress_explanation": "爪夹闭合成功抓取洋葱后向右前方移动，进度提升为60%",
+            "state_description": "爪夹闭合夹取洋葱状态，位于碗的左上方\n为了完成把洋葱放进碗里的任务应该：爪夹继续向右边移动至碗的正上方",
+            "time": 9.466666666666667
+        },
+        {
+            "action_description": "爪夹向右侧移动至碗的正上方",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
+                        {
+                            "height": 0.13466666666666677,
+                            "id": "bbox_1766477905112_1766480912185_bwqebd9kw",
+                            "width": 0.092,
+                            "x": 0.2765,
+                            "y": 0.5346666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.2599999999999999,
+                            "id": "bbox_1766477912166_1766480926371_crdh458k1",
+                            "width": 0.21800000000000003,
+                            "x": 0.2145,
+                            "y": 0.5986666666666668
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766477919856": {
+                    "instances": [
+                        {
+                            "id": "point_1766477919856_1766480936587_lqnf4zohc",
+                            "x": 0.27349999999999997,
+                            "y": 0.6786666666666666
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+                    ],
+                    "type": "point"
+                },
+                "point_1766477927278": {
+                    "instances": [
+                        {
+                            "id": "point_1766477927278_1766480939621_sygytjmsy",
+                            "x": 0.35550000000000004,
+                            "y": 0.6866666666666668
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹将洋葱落入碗中。",
+            "error_success_analysis": "向爪夹的右方成功平移",
+            "frame": 322,
+            "progress": 75,
+            "progress_explanation": "爪夹向右移动至碗的正上方准备下落，进度提升为75%",
+            "state_description": "爪夹目前抓取洋葱位于碗的正上方\n为了完成把洋葱放进碗里的任务应该：爪夹松开使洋葱垂直下落入碗中",
+            "time": 10.733333333333333
+        },
+        {
+            "action_description": "爪夹张开洋葱落入碗中",
+            "annotations": {
+                "bbox_1766477905112": {
+                    "instances": [
+                        {
+                            "height": 0.11466666666666671,
+                            "id": "bbox_1766477905112_1766481740370_webh6gu3v",
+                            "width": 0.094,
+                            "x": 0.2745,
+                            "y": 0.7040000000000001
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766477912166": {
+                    "instances": [
+                        {
+                            "height": 0.26933333333333326,
+                            "id": "bbox_1766477912166_1766481748647_0sykrnvut",
+                            "width": 0.21999999999999997,
+                            "x": 0.21350000000000002,
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+                    "type": "bbox"
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+                "point_1766477919856": {
+                    "instances": [
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+                            "x": 0.2575,
+                            "y": 0.68
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+                },
+                "point_1766477927278": {
+                    "instances": [
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+                            "id": "point_1766477927278_1766481761422_v46i7uruz",
+                            "x": 0.3735,
+                            "y": 0.6853333333333332
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "把洋葱放进碗里任务完成",
+            "error_success_analysis": "爪夹张开洋葱成功落入碗中",
+            "frame": 409,
+            "progress": 100,
+            "progress_explanation": "爪夹张开洋葱成功落入碗中，进度提升为100%",
+            "state_description": "爪夹目前是打开状态，洋葱已经落入碗中\n完成把洋葱放进碗里的任务",
+            "time": 13.633333333333333
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766477905112",
+            "name": "洋葱"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766477912166",
+            "name": "碗"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766477919856",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766477927278",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-152129-mix-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json

@@ -0,0 +1,828 @@
+{
+    "task_description": "拿起锤子，把它放进快递箱里。\n开始移动0%\n爪夹靠近锤子20%\n爪夹抓取锤子40%\n爪夹抓取锤子接近快递箱60%\n爪夹将锤子放入快递箱80%\n爪夹松开，锤子落入快递箱100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动",
+            "annotations": {
+                "bbox_1766540294011": {
+                    "instances": [
+                        {
+                            "height": 0.3066666666666667,
+                            "id": "bbox_1766540294011_1766540329643_0h7237dfs",
+                            "width": 0.10499999999999998,
+                            "x": 0.6495,
+                            "y": 0.2826666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766540301268": {
+                    "instances": [
+                        {
+                            "height": 0.6306666666666666,
+                            "id": "bbox_1766540301268_1766540349101_x009imfr5",
+                            "width": 0.43899999999999995,
+                            "x": 0.0025,
+                            "y": 0.3346666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
+                        {
+                            "id": "point_1766540306899_1766540357616_71hhhyrmn",
+                            "x": 0.3965,
+                            "y": 0.39066666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766540360721_teiio1w74",
+                            "x": 0.4965,
+                            "y": 0.37733333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达锤子正上方后竖直下降，抓取锤子后竖直上升，继续向爪夹方向的右前方移动，直至锤子处于快递箱正上方。下降将锤子放入快递箱，松开爪夹。",
+            "error_success_analysis": "",
+            "frame": 48,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%",
+            "state_description": "爪夹当前处于打开状态，没有移动和接触锤子。\n为了完成拿起锤子，把它放进快递箱里的任务应该：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动，准备抓取锤子",
+            "time": 1.594266
+        },
+        {
+            "action_description": "爪夹保持打开状态，爪夹调整角度与桌面保持垂直并向前移动",
+            "annotations": {
+                "bbox_1766540294011": {
+                    "instances": [
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+                            "id": "bbox_1766540294011_1766540739545_lsk73z5g4",
+                            "width": 0.10299999999999994,
+                            "x": 0.6525000000000001,
+                            "y": 0.2826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766540301268": {
+                    "instances": [
+                        {
+                            "height": 0.632,
+                            "id": "bbox_1766540301268_1766540748621_48c3xw9sw",
+                            "width": 0.442,
+                            "x": 0.0005,
+                            "y": 0.34
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
+                        {
+                            "id": "point_1766540306899_1766540752763_ht6z1odkp",
+                            "x": 0.40750000000000003,
+                            "y": 0.4106666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766540757143_rcqkqvjbb",
+                            "x": 0.5215,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左边移动，到达锤子正上方后竖直下降，抓取锤子后竖���上升，继续向爪夹方向的右前方移动，直至锤子处于快递箱正上方。下降将锤子放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹调整角度与桌面垂直并朝着锤子的正确方向移动",
+            "frame": 89,
+            "progress": 10,
+            "progress_explanation": "目前爪夹处于垂直状态，靠近抓取物锤子，进度提升为10%",
+            "state_description": "爪夹在锤子的右边为张开状态\n为了完成拿起锤子，把它放到快递箱里的任务应该：向爪夹方向的左边移动至锤子的正上方",
+            "time": 2.971133
+        },
+        {
+            "action_description": "爪夹移动至锤子上方后下落，靠近锤子",
+            "annotations": {
+                "bbox_1766540301268": {
+                    "instances": [
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+                            "id": "bbox_1766540301268_1766541135107_be85835fq",
+                            "width": 0.44300000000000006,
+                            "x": 0.0005,
+                            "y": 0.336
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
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+                            "id": "point_1766540306899_1766541146805_b24aijdoq",
+                            "x": 0.6245,
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+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766541150941_h46mz2aqq",
+                            "x": 0.7125,
+                            "y": 0.4746666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
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+            "error_success_analysis": "爪夹向左后方移动并调整了爪夹的角度准备做抓取动作",
+            "frame": 128,
+            "progress": 20,
+            "progress_explanation": "爪夹向爪夹方向的左后方移动后接近锤子，进度提升为20%",
+            "state_description": "爪夹目前是打开状态，位于锤子的正上方\n为了完成拿起锤子，把它放到快递箱里的任务应该：使爪夹垂直下落开始进行抓取锤子的动作",
+            "time": 4.263859
+        },
+        {
+            "action_description": "爪夹未移动并处于夹取状态",
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+            "error_success_analysis": "爪夹闭合成功夹取锤子",
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+            "progress": 40,
+            "progress_explanation": "爪夹抓取锤子，进度提升为40%",
+            "state_description": "爪夹闭合并成功夹取锤子。\n为了完成拿起锤子，把它放到快递箱里的任务应该：爪夹抓取锤子垂直上升向爪夹方向的右方移动至快递箱的正上方",
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+        {
+            "action_description": "夹取锤子向爪夹的右方移动至接近快递箱",
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+            "error_success_analysis": "爪夹抓取锤子向右边的快递箱移动",
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+            "progress": 60,
+            "progress_explanation": "爪夹夹取锤子向快递箱的正确方向移动，接近快递箱，进度提升为60%",
+            "state_description": "爪夹闭合夹取锤子位于快递箱的左边\n为了完成拿起锤子，把它放到快递箱里的任务应该：爪夹夹取锤子继续向爪夹方向的右边移动至快递箱的正上方",
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+        {
+            "action_description": "爪夹向右方移动锤子掉落，爪夹由闭合处于打开状态",
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+                    "instances": [
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+                            "id": "bbox_1766540294011_1766542305373_foq38za3r",
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+            "error_success_analysis": "爪夹向右移动后夹取的锤子掉落",
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+            "progress": 15,
+            "progress_explanation": "爪夹抓取锤子移动后锤子掉落，进度下降为15%",
+            "state_description": "爪夹处于张开状态位于锤子上方，靠近锤子。\n为了完成拿起锤子，把它放到快递箱里的任务应该：使爪夹垂直下落开始进行抓取锤子动作",
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+        {
+            "action_description": "爪夹调整爪夹角度后向左前方移动，移动至锤子的左前方竖直下落，准备做抓取动作",
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+                    "instances": [
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+                            "id": "bbox_1766540294011_1766542716805_yx8v896o4",
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+            "error_success_analysis": "爪夹向左前移动后在锤子的前边垂直下落",
+            "frame": 400,
+            "progress": 20,
+            "progress_explanation": "爪夹向下移动后接近锤子，调整了爪夹的抓取角度，进度提升为20%",
+            "state_description": "爪夹处于张开状态位于锤子左前方，靠近锤子\n为了完成拿起锤子，把它放到快递箱里的任务应该：爪夹向下移动至锤子的正上方，垂直下落开始进行抓取动作",
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+        {
+            "action_description": "爪夹夹取锤子失败向锤子的右前方移动至茄子的左边",
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+                    "instances": [
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+            "error_success_analysis": "爪夹夹取时没有调整距离在锤子的正上方，夹取失败",
+            "frame": 479,
+            "progress": -20,
+            "progress_explanation": "爪夹抓取失败后闭合向锤子的右前方移动，离锤子原来越远，进度下降为-20%",
+            "state_description": "爪夹处于闭合状态位于锤子右上方，靠近茄子\n为了完成拿起锤子，把它放到快��箱里的任务应该：使爪夹打开并调整角度使其垂直于桌面，向爪夹的左后方移动",
+            "time": 15.978899
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+        {
+            "action_description": "爪夹向左后方移动至碗的正上方",
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+            "error_success_analysis": "爪夹重新打开并向爪夹的左后方移动",
+            "frame": 547,
+            "progress": -20,
+            "progress_explanation": "爪夹打开并向右后方移动，停留在碗的正上方，进度保持在-20%",
+            "state_description": "爪夹处于张开状态位于碗的正上方，靠近碗\n为了完成拿起锤子，把它放到快递箱里的任务应该：使爪夹上移后向右后方移动至锤子的正上方",
+            "time": 18.225366
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+        {
+            "action_description": "爪夹闭合夹取碗失败向碗的右前方移动至杯子的左边",
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+            "correction_plan": "打开爪夹，爪夹向爪夹方向的后方移动至锤子正上方，垂直下落开始抓取锤子后竖直上升，继续向爪夹方向的右前方移动，直至锤子处于快递箱正上方。下降将锤子放入快递箱中，松开���夹。",
+            "error_success_analysis": "爪夹夹取目标物有误",
+            "frame": 594,
+            "progress": -20,
+            "progress_explanation": "爪夹抓取失败后闭合向锤子的右前方移动，离锤子原来越远，进度保持在-20%",
+            "state_description": "爪夹处于闭合状态位于锤子右上方，靠近茄子\n为了完成拿起锤子，把它放到快递箱里的任务应该：使爪夹打开并调整角度使其垂直于桌面，向爪夹的后方移动",
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+        {
+            "action_description": "爪夹向后移动至锤子上方后下落，靠近锤子",
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+            "error_success_analysis": "爪夹向后方移动并调整了爪夹的角度准备做抓取动作",
+            "frame": 748,
+            "progress": 20,
+            "progress_explanation": "爪夹向爪夹方向的后方移动后接近锤子，进度提升为20%",
+            "state_description": "爪夹目前是打开状态，位于锤子的正上方\n为了完成拿起锤子，把它放到快递箱里的任务应该：使爪夹垂直下落开始进行抓取锤子的动作",
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+            "error_success_analysis": "爪夹闭合并成功夹取锤子",
+            "frame": 843,
+            "progress": 40,
+            "progress_explanation": "爪夹成功抓取锤子，进度提升为40%",
+            "state_description": "爪夹闭合并成功夹取锤子。\n为了完成拿起锤子，把它放到快递箱里的任务应该：爪夹抓取锤子向爪夹方向的右方移动至快递箱的正上方",
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+                    "instances": [
+                        {
+                            "height": 0.42266666666666663,
+                            "id": "bbox_1766540294011_1766545212327_nnk4d4ual",
+                            "width": 0.132,
+                            "x": 0.0015,
+                            "y": 0.43200000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766540301268": {
+                    "instances": [
+                        {
+                            "height": 0.632,
+                            "id": "bbox_1766540301268_1766545218299_xwwze46fh",
+                            "width": 0.442,
+                            "x": 0.0005,
+                            "y": 0.3413333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
+                        {
+                            "id": "point_1766540306899_1766545221673_qkdjcasvk",
+                            "x": 0.0815,
+                            "y": 0.6306666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766545224745_pvyu2q0v2",
+                            "x": 0.1035,
+                            "y": 0.648
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹夹取锤子处于快递箱正上方后垂直下落至快递箱中。打开爪夹锤子落入快递箱中",
+            "error_success_analysis": "爪夹抓取锤子向右边的快递箱移动至箱子正上方",
+            "frame": 922,
+            "progress": 60,
+            "progress_explanation": "爪夹夹取锤子向快递箱的正确方向移动，位于快递箱正上方，进度提升为60%",
+            "state_description": "爪夹闭合夹取锤子位于快递箱的正上方\n为了完成拿起锤子，把它放到快递箱里的任务应该：爪夹夹取锤子竖直下落至快递箱",
+            "time": 30.725866
+        },
+        {
+            "action_description": "爪夹下落至快递箱中",
+            "annotations": {
+                "bbox_1766540294011": {
+                    "instances": [
+                        {
+                            "height": 0.45999999999999996,
+                            "id": "bbox_1766540294011_1766545427605_kcf5x05tb",
+                            "width": 0.15099999999999997,
+                            "x": 0.0495,
+                            "y": 0.436
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766540301268": {
+                    "instances": [
+                        {
+                            "height": 0.652,
+                            "id": "bbox_1766540301268_1766545445159_an1761tbq",
+                            "width": 0.42699999999999994,
+                            "x": 0.0025,
+                            "y": 0.3173333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
+                        {
+                            "id": "point_1766540306899_1766545448860_p26jfd1by",
+                            "x": 0.1255,
+                            "y": 0.7093333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766545454981_v1kxmo8hr",
+                            "x": 0.1555,
+                            "y": 0.7213333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "打开爪夹使抓取的锤子落入快递箱",
+            "error_success_analysis": "爪夹下落至快递箱中",
+            "frame": 1001,
+            "progress": 80,
+            "progress_explanation": "爪夹抓取锤子处于快递箱中，进度提升为80%",
+            "state_description": "爪夹闭合并夹取锤子在快递箱中\n为了完成拿起锤子，把它放到快递箱里的任务应该：打开爪夹使锤子落入快递箱中",
+            "time": 33.37575570670103
+        },
+        {
+            "action_description": "爪夹张开，锤子落入快递箱中",
+            "annotations": {
+                "bbox_1766540294011": {
+                    "instances": [
+                        {
+                            "height": 0.2146666666666667,
+                            "id": "bbox_1766540294011_1766545779521_8fwvwjdcr",
+                            "width": 0.20500000000000002,
+                            "x": 0.040499999999999994,
+                            "y": 0.6786666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766540301268": {
+                    "instances": [
+                        {
+                            "height": 0.66,
+                            "id": "bbox_1766540301268_1766545794872_llg3wtqfw",
+                            "width": 0.41200000000000003,
+                            "x": 0.0015,
+                            "y": 0.30533333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766540306899": {
+                    "instances": [
+                        {
+                            "id": "point_1766540306899_1766545803893_xefivtycd",
+                            "x": 0.051500000000000004,
+                            "y": 0.636
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766540312396": {
+                    "instances": [
+                        {
+                            "id": "point_1766540312396_1766545820947_vfbmtk66i",
+                            "x": 0.1545,
+                            "y": 0.6946666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "拿起锤子，把它放进快递箱里的任务完成",
+            "error_success_analysis": "爪夹张开，锤子落入快递箱，完成目标",
+            "frame": 1029,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，锤子落入快递箱中\n进度提升为100%",
+            "state_description": "爪夹打开，锤子落入快递箱里\n完成拿起锤子，把它放进快递箱里的任务",
+            "time": 34.312966
+        }
+    ],
+    "tags": [
+        "custom1"
+    ],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766540294011",
+            "name": "锤子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766540301268",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766540306899",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766540312396",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154513-bad-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,294 @@
+{
+    "task_description": "拿起锤子，把它放进快递箱里。\n开始移动：0%\n爪夹靠近锤子：20%\n爪夹抓取锤子：40%\n爪夹抓住锤子，接近快递箱：60%\n爪夹将锤子放入快递箱中：80%\n爪夹松开，锤子落入快递箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，没有移动。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.3053333333333334,
+                            "id": "bbox_1766045093536_1766483542235_uclzhlmqt",
+                            "width": 0.2129999999999999,
+                            "x": 0.4875000000000001,
+                            "y": 0.48799999999999993
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766045093687": {
+                    "instances": [
+                        {
+                            "height": 0.5813333333333333,
+                            "id": "bbox_1766045093687_1766483552579_ief0meedz",
+                            "width": 0.5000000000000001,
+                            "x": 0.0035000000000000144,
+                            "y": 0.41466666666666663
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766045094832": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094832_1766483545315_1wpoddodi",
+                            "x": 0.4365,
+                            "y": 0.3893333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766045094991": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094991_1766483547619_73q2dpq7g",
+                            "x": 0.5365,
+                            "y": 0.3453333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，向爪夹方向的左前方移动靠近锤子，移动至锤子的正上方，下降并抓取锤子，抬起爪夹，向爪夹方向的右边移动，到达快递箱的正上方。松开爪夹，使锤子落入快递箱中。",
+            "error_success_analysis": "",
+            "frame": 44,
+            "progress": 0,
+            "progress_explanation": "当前爪夹张开，没有移动，没有接触锤子。因此进度为0%。",
+            "state_description": "当前爪夹张开，没有移动，没有靠近锤子。为完成拿起锤子，把它放进快递箱里的任务应当：调整爪夹角度，向爪夹方向的左前方移动靠近锤子。",
+            "time": 1.4579725634020615
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方微调，并在水平方向上接近锤子。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.30133333333333334,
+                            "id": "bbox_1766045093536_1766046191590_4c2n0xm1k",
+                            "width": 0.21200000000000002,
+                            "x": 0.4875,
+                            "y": 0.492
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766045093687": {
+                    "instances": [
+                        {
+                            "height": 0.576,
+                            "id": "bbox_1766045093687_1766046194309_lrl5moxps",
+                            "width": 0.5040000000000001,
+                            "x": 0.0004999999999999894,
+                            "y": 0.41866666666666663
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766045094832": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094832_1766046196573_s579vw0bb",
+                            "x": 0.41450000000000004,
+                            "y": 0.392
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766045094991": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094991_1766046199429_upx99m0f9",
+                            "x": 0.5255,
+                            "y": 0.35866666666666663
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹调整角度，靠近锤子至锤子的正上方，下降并抓取锤子，抬起爪夹，向爪夹方向的右边移动，到达快递箱的正上方。松开爪夹，使锤子落入快递箱中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近锤子。",
+            "frame": 79,
+            "progress": 10,
+            "progress_explanation": "当前爪夹正在调整角度并靠近锤子。因此进度为10%。",
+            "state_description": "当前爪夹张开，在水平距离上接近锤子。为完成拿起锤子，把它放进快递箱里的任务应当：靠近锤子至锤子的正上方，下降并抓取。",
+            "time": 2.6333333333333333
+        },
+        {
+            "action_description": "爪夹移动至错误地点下降，并准备抓取。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.3026666666666667,
+                            "id": "bbox_1766045093536_1766046233429_e5vbdtw5o",
+                            "width": 0.21399999999999997,
+                            "x": 0.48650000000000004,
+                            "y": 0.4893333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766045093687": {
+                    "instances": [
+                        {
+                            "height": 0.588,
+                            "id": "bbox_1766045093687_1766046238077_u1dc5jchx",
+                            "width": 0.504,
+                            "x": 0.0005000000000000129,
+                            "y": 0.41600000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766045094832": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094832_1766046241157_uf8s8c814",
+                            "x": 0.4335,
+                            "y": 0.5466666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹保持张开状态并上升，重新调整角度，重新向锤子靠近，到达锤子的正上方，下降并抓取锤子，抬起爪夹，向爪夹方向的右边移动，到达快递箱的正上方。松开爪夹，使锤子落入快递箱中。",
+            "error_success_analysis": "爪夹垂直上升并调整角度，重新向锤子靠近。",
+            "frame": 111,
+            "progress": 5,
+            "progress_explanation": "当前爪夹在错误地点下降并准备抓取，没有及时抬起爪夹，重新调整角度。因此进度下降为5%。",
+            "state_description": "当前状态为爪夹在错误地点下降，并准备抓取。为完成拿起锤子，把它放进快递箱里的任务应当：爪夹保持张开状态并上升，重新调整角度，重新向锤子靠近。",
+            "time": 3.7157733355670106
+        },
+        {
+            "action_description": "爪夹在错误地点下降，合拢并空抓。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.3013333333333334,
+                            "id": "bbox_1766045093536_1766046263205_0s19l3tyo",
+                            "width": 0.2120000000000001,
+                            "x": 0.4885,
+                            "y": 0.48933333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766045093687": {
+                    "instances": [
+                        {
+                            "height": 0.5773333333333334,
+                            "id": "bbox_1766045093687_1766046266597_2eebg75sz",
+                            "width": 0.502,
+                            "x": 0.0015000000000000013,
+                            "y": 0.41600000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766045094832": {
+                    "instances": [
+                        {
+                            "id": "point_1766045094832_1766046268837_agw0l0vet",
+                            "x": 0.4845,
+                            "y": 0.572
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开并抬起爪夹，重新调整角度，向爪夹方向的前方移动接近锤子，到达锤子的正上方，下降并抓取锤子，抬起爪夹，向爪夹方向的右边移动，到达快递箱的正上方。松开爪夹，使锤子落入快递箱中。",
+            "error_success_analysis": "爪夹没有及时调整角度。",
+            "frame": 160,
+            "progress": -10,
+            "progress_explanation": "当前爪夹合拢，未抓取锤子相比上一步，需要多一次松开爪夹的动作，才能重新接近锤子。因此进度下降至-10%。",
+            "state_description": "当前爪夹合拢。为完成拿起锤子，把它放进快递箱里的任务应当：爪夹张开并垂直上升，重新调整角度，重新向锤子靠近。",
+            "time": 5.333333333333333
+        },
+        {
+            "action_description": "爪夹合拢空抓并向爪夹的右前方移动。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.30533333333333335,
+                            "id": "bbox_1766045093536_1766046295173_j7p51gjab",
+                            "width": 0.2129999999999999,
+                            "x": 0.4875000000000001,
+                            "y": 0.48800000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766045093687": {
+                    "instances": [
+                        {
+                            "height": 0.5746666666666668,
+                            "id": "bbox_1766045093687_1766046298620_9o3uqqjkm",
+                            "width": 0.506,
+                            "x": 0.003499999999999992,
+                            "y": 0.41333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹张开并垂直上升，重新调整角度，重新向锤子靠近，到达锤子的正上方，下降并抓取锤子，抬起爪夹，向爪夹方向的右边移动，到达快递箱的正上方。松开爪夹，使锤子落入快递箱中。",
+            "error_success_analysis": "爪夹没有同上一步重新调整角度。",
+            "frame": 181,
+            "progress": -20,
+            "progress_explanation": "当前爪夹未抓取锤子并靠近快递箱，同前面几步相比，需要多一次松开爪夹并抬起，重新调整角度的动作。因此进度下降至-20%。",
+            "state_description": "当前状态为爪夹合拢空抓并向快递箱方向移动。为完成拿起锤子，把它放进快递箱里的任务应当：爪夹张开并垂直上升，重新调整角度，重新向锤子靠近。",
+            "time": 6.03756036443299
+        },
+        {
+            "action_description": "爪夹未抓取锤子，并将快递箱撞击出去。",
+            "annotations": {
+                "bbox_1766045093536": {
+                    "instances": [
+                        {
+                            "height": 0.3026666666666666,
+                            "id": "bbox_1766045093536_1766046318372_gvooeu3cu",
+                            "width": 0.2129999999999999,
+                            "x": 0.4875000000000001,
+                            "y": 0.48800000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹调整角度不当。",
+            "frame": 265,
+            "progress": -50,
+            "progress_explanation": "当前爪夹没有松开抬升，重新调整角度，而是将快递箱撞击出去。因此进度下降至-50%。",
+            "state_description": "当前状态为爪夹没有及时松开爪夹，并继续向快递箱方向移动，将快递箱撞击出去。",
+            "time": 8.833333333333334
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766045093536",
+            "name": "锤子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766045093687",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766045094832",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766045094991",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170227-bad-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,306 @@
+{
+    "task_description": "拿起锤子，把它放到白色托盘里。\n开始移动：0%\n爪夹靠近锤子：20%\n爪夹抓取锤子：40%\n爪夹抓住锤子并接近白色托盘：60%\n爪夹将锤子放入白色托盘中：80%\n爪夹松开，使锤子落入白色托盘中：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持张开，没有移动。",
+            "annotations": {
+                "bbox_1766127930861": {
+                    "instances": [
+                        {
+                            "height": 0.3506666666666666,
+                            "id": "bbox_1766127930861_1766478720087_8eed9m62w",
+                            "width": 0.11400000000000006,
+                            "x": 0.42749999999999994,
+                            "y": 0.4653333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766127931005": {
+                    "instances": [
+                        {
+                            "height": 0.5426666666666667,
+                            "id": "bbox_1766127931005_1766478724367_8009raom6",
+                            "width": 0.328,
+                            "x": 0.6735,
+                            "y": 0.28266666666666657
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766127931845": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931845_1766478728094_uskczpdwq",
+                            "x": 0.4215,
+                            "y": 0.396
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766127931989": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931989_1766478731287_d7dm825sn",
+                            "x": 0.5175,
+                            "y": 0.38
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹保持张开状态，爪夹调整角度，向爪夹的前方移动，靠近锤子至锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。",
+            "error_success_analysis": "",
+            "frame": 56,
+            "progress": 0,
+            "progress_explanation": "当前爪夹保持张开，没有移动。因此进度为0%。",
+            "state_description": "当前状态为爪夹张开，没有移动，没有接触锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹保持张开状态，爪夹调整角度，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子。",
+            "time": 1.8654294963917526
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766127930861": {
+                    "instances": [
+                        {
+                            "height": 0.3453333333333334,
+                            "id": "bbox_1766127930861_1766478947564_aroaggauv",
+                            "width": 0.11500000000000003,
+                            "x": 0.4255,
+                            "y": 0.464
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766127931005": {
+                    "instances": [
+                        {
+                            "height": 0.5626666666666666,
+                            "id": "bbox_1766127931005_1766478933940_g8wwkr6at",
+                            "width": 0.324,
+                            "x": 0.6775,
+                            "y": 0.2813333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766127931845": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931845_1766478936500_s2u75k7re",
+                            "x": 0.3885,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766127931989": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931989_1766478942356_e27e3pxym",
+                            "x": 0.49050000000000005,
+                            "y": 0.34400000000000003
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹保持张开状态，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近锤子。",
+            "frame": 83,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上略微接近锤子并开始调整爪夹角度方便抓取，因此进度提升至15%",
+            "state_description": "当前爪夹张开，在水平距离上接近锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹保持张开状态，向爪夹的前方移动，靠近锤子至锤子的正上方，后下降爪夹并抓取锤子。",
+            "time": 2.7671476819587624
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766127930861": {
+                    "instances": [
+                        {
+                            "height": 0.3453333333333333,
+                            "id": "bbox_1766127930861_1766479239216_fz492gy6b",
+                            "width": 0.11699999999999999,
+                            "x": 0.4245,
+                            "y": 0.4653333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766127931005": {
+                    "instances": [
+                        {
+                            "height": 0.5466666666666666,
+                            "id": "bbox_1766127931005_1766479229976_sq0w8ociv",
+                            "width": 0.325,
+                            "x": 0.6805000000000001,
+                            "y": 0.2813333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766127931845": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931845_1766479232592_quew2zeaz",
+                            "x": 0.3545,
+                            "y": 0.5453333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766127931989": {
+                    "instances": [
+                        {
+                            "id": "point_1766127931989_1766479234936_sxhrqa843",
+                            "x": 0.4375,
+                            "y": 0.5333333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至锤子的正上方，后下降爪夹并抓取锤子，爪夹垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。",
+            "error_success_analysis": "爪夹已调整角度，并垂直于桌面。",
+            "frame": 137,
+            "progress": 25,
+            "progress_explanation": "当前爪夹垂直于桌面，并靠近锤子。因此进度提升至25%。",
+            "state_description": "当前状态为爪夹垂直于桌面，并靠近锤子。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹移动至锤子的正上方，后下降爪夹并抓取锤子。",
+            "time": 4.581855530412372
+        },
+        {
+            "action_description": "爪夹向爪夹的下方移动并合拢空抓。",
+            "annotations": {
+                "bbox_1766127930861": {
+                    "instances": [
+                        {
+                            "height": 0.3506666666666666,
+                            "id": "bbox_1766127930861_1766129341994_1nh4vvvrl",
+                            "width": 0.10899999999999999,
+                            "x": 0.4295,
+                            "y": 0.4640000000000001
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766127931005": {
+                    "instances": [
+                        {
+                            "height": 0.5280000000000001,
+                            "id": "bbox_1766127931005_1766129337418_vizpfpeb1",
+                            "width": 0.3149999999999998,
+                            "x": 0.6785000000000001,
+                            "y": 0.288
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹张开，调整角度，靠近锤子至锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪��方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。",
+            "error_success_analysis": "爪夹合拢，没有重新调整角度。",
+            "frame": 192,
+            "progress": -10,
+            "progress_explanation": "当前爪夹合拢，没有抓取锤子，同上一步相比，爪夹没有松开并抬起，重新调整角度。因此进度下降至-10%。",
+            "state_description": "当前状态为爪夹合拢，进行空抓动作。为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，垂直上升并重新调整角度，重新向爪夹方向的左前方移动，至锤子的正上方，下降并抓取锤子。",
+            "time": 6.4
+        },
+        {
+            "time": 8.046932,
+            "frame": 241,
+            "progress": 0,
+            "action_description": "爪夹合拢，并向爪夹的前方移动，靠近锤子。",
+            "state_description": "当前爪夹合拢，在水平方向上接近锤子。\n为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方。",
+            "progress_explanation": "当前爪夹接近锤子，因此进度提升至0%。",
+            "error_success_analysis": "爪夹合拢，并向爪夹的前方移动，在水平方向上成功接近锤子。",
+            "correction_plan": "爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。",
+            "annotations": {
+                "bbox_1766127931005": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766127931005_1768440992635_f9c3fbh4u",
+                            "x": 0.6755,
+                            "y": 0.2773333333333333,
+                            "width": 0.3240000000000001,
+                            "height": 0.5533333333333333
+                        }
+                    ]
+                },
+                "bbox_1766127930861": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766127930861_1768440997659_99uoft50j",
+                            "x": 0.4325,
+                            "y": 0.4613333333333333,
+                            "width": 0.11500000000000003,
+                            "height": 0.3693333333333334
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "time": 10.933333,
+            "frame": 328,
+            "progress": 5,
+            "action_description": "爪夹合拢，向爪夹的前方略微移动，并停下保持静止。",
+            "state_description": "当前爪夹合拢，垂直于桌面。\n为完成拿起锤子，把它放到白色托盘里的任务应当：爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方。",
+            "progress_explanation": "当前爪夹向爪夹的前方略微移动，并停下保持静止，因此进度提升至5%。",
+            "error_success_analysis": "爪夹合拢，向爪夹的前方略微移动，并停下保持静止，没有抬起爪夹，移动到锤子的正上方。",
+            "correction_plan": "\n爪夹张开，向爪夹的上方抬起，后向爪夹的左边移动到锤子的正上方，下降爪夹并抓取锤子，后垂直上升，抬高爪夹，向爪夹方向的左边移动至白色托盘的正上方，爪夹将锤子放入白色托盘中，爪夹松开，使锤子落入白色托盘中。\n",
+            "annotations": {
+                "bbox_1766127931005": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766127931005_1768441241296_cpyii5inz",
+                            "x": 0.6745,
+                            "y": 0.28,
+                            "width": 0.32299999999999995,
+                            "height": 0.5493333333333332
+                        }
+                    ]
+                },
+                "bbox_1766127930861": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766127930861_1768441245216_8r4l25vkd",
+                            "x": 0.4335,
+                            "y": 0.4706666666666667,
+                            "width": 0.11299999999999999,
+                            "height": 0.3573333333333333
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766127930861",
+            "name": "锤子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766127931005",
+            "name": "白色托盘"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766127931845",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766127931989",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-170709-bad-corn-express-box/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,678 @@
+{
+    "task_description": "把玉米放在快递箱里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并靠近快递箱：60%\n爪夹将玉米放进快递箱：80%\n爪夹松开，使玉米落入快递箱里：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.128,
+                            "id": "bbox_1766373600586_1766476552953_o4tlg04av",
+                            "width": 0.12499999999999992,
+                            "x": 0.5475000000000001,
+                            "y": 0.536
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.4706666666666667,
+                            "id": "bbox_1766373600770_1766476560601_5vaa4yv0n",
+                            "width": 0.2750000000000001,
+                            "x": 0.7255,
+                            "y": 0.148
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766476555161_p09l2l3la",
+                            "x": 0.4585,
+                            "y": 0.38266666666666665
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766476557345_vw2ay9pmb",
+                            "x": 0.5535,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度并靠近玉米，到达玉米的正上方，下降爪夹并进行抓取，抬起爪夹，向爪夹方向的左边移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "",
+            "frame": 35,
+            "progress": 0,
+            "progress_explanation": "当前爪夹没有移动，没有靠近玉米，因此进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触玉米，为完成把玉米放在快递箱里的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取玉米。",
+            "time": 1.154639157216495
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其在水平方向上接近玉米。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.13066666666666665,
+                            "id": "bbox_1766373600586_1766374421620_kqkyyvx4b",
+                            "width": 0.12599999999999997,
+                            "x": 0.5495,
+                            "y": 0.5346666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.47200000000000003,
+                            "id": "bbox_1766373600770_1766374417411_watmhg1xb",
+                            "width": 0.27100000000000024,
+                            "x": 0.7274999999999998,
+                            "y": 0.14933333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766374424340_zn7geqky8",
+                            "x": 0.4795000000000001,
+                            "y": 0.4320000000000001
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766374426731_lf2l38nsh",
+                            "x": 0.5845,
+                            "y": 0.42533333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至玉米的正上方，下降爪夹并进行抓取，抬起爪夹，向爪夹方向的左边移���，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近玉米。",
+            "frame": 63,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%\n",
+            "state_description": "当前爪夹张开，在水平距离上接近玉米。为完成把玉米放在快递箱里的任务应当：移动至玉米的正上方，下降爪夹并抓取玉米。",
+            "time": 2.1003436097938146
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，移动至玉米的正上方。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.12533333333333327,
+                            "id": "bbox_1766373600586_1766374457803_pav0yndtj",
+                            "width": 0.12599999999999997,
+                            "x": 0.5485,
+                            "y": 0.5373333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.47333333333333344,
+                            "id": "bbox_1766373600770_1766374448363_6dnijp59q",
+                            "width": 0.2680000000000001,
+                            "x": 0.7274999999999998,
+                            "y": 0.148
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766374450443_46giv13lw",
+                            "x": 0.5865,
+                            "y": 0.5920000000000001
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766374453587_16fn2l2zm",
+                            "x": 0.6625,
+                            "y": 0.5493333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "降爪夹并进行抓取，抬起爪夹，向爪夹方向的左边移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近玉米，到达玉米的正上方，准备抓取。\n",
+            "frame": 120,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已成功移动至玉米的正上方，因此进度为20%。",
+            "state_description": "当前爪夹张开，到达玉米的正上方。为完成把玉米放在快递箱里的任务应当：爪夹下降并抓取玉米，抬起爪夹向爪夹方向的左边移动至盘子的正上方。",
+            "time": 4
+        },
+        {
+            "action_description": "爪夹向爪夹的下方移动并合拢，随后垂直抬起。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
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+                            "height": 0.15599999999999986,
+                            "id": "bbox_1766373600586_1766374516699_ut4chgyp7",
+                            "width": 0.10299999999999994,
+                            "x": 0.5825,
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+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
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+                            "height": 0.4720000000000001,
+                            "id": "bbox_1766373600770_1766374508371_c73la2ag4",
+                            "width": 0.2650000000000001,
+                            "x": 0.7344999999999999,
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766374511595_ct0i59wxs",
+                            "x": 0.6275000000000001,
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+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766374513851_rd0tzxolh",
+                            "x": 0.6375,
+                            "y": 0.504
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，重新调整角度，下降并抓取玉米，爪夹抬起，向爪夹方向的左边移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "没有及时调整爪夹角度，重新抓取玉米。",
+            "frame": 200,
+            "progress": 5,
+            "progress_explanation": "当前爪夹合拢，进行空抓并抬起，因此进度下降至5%。",
+            "state_description": "当前爪夹合拢并抬升。为完成把玉米放在快递箱里的任务应当：抓夹张开，调整角度，下降进行抓取动作。",
+            "time": 6.674913985051546
+        },
+        {
+            "action_description": "爪夹张开，准备下降抓取玉米。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.15466666666666667,
+                            "id": "bbox_1766373600586_1766389698936_wxi946h2m",
+                            "width": 0.10699999999999994,
+                            "x": 0.5795000000000001,
+                            "y": 0.5533333333333333
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.4666666666666668,
+                            "id": "bbox_1766373600770_1766389701328_6lygexwz7",
+                            "width": 0.2659999999999999,
+                            "x": 0.7335000000000003,
+                            "y": 0.15333333333333335
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766389703360_mp3218s8h",
+                            "x": 0.6005,
+                            "y": 0.5186666666666667
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+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766389706048_ortjujqw5",
+                            "x": 0.6495,
+                            "y": 0.49600000000000005
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹调整角度，移动至玉米的正上方下降并进行抓取动作，爪夹抬起，向爪夹方向的左边移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹没有及时调整角度。",
+            "frame": 226,
+            "progress": 10,
+            "progress_explanation": "当前爪夹张开并重新调整角度，因此进度为10%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面。为完成把玉米放在快递箱里的任务应当：靠近玉米，移动至玉米的正上方，下降并抓取。",
+            "time": 7.533333333333333
+        },
+        {
+            "action_description": "爪夹向爪夹的后方移动，移动至萝卜的正上方。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.1546666666666668,
+                            "id": "bbox_1766373600586_1766389741768_mmyaaxqbg",
+                            "width": 0.10600000000000014,
+                            "x": 0.5794999999999999,
+                            "y": 0.5533333333333332
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.4666666666666667,
+                            "id": "bbox_1766373600770_1766389735152_1jk5mv517",
+                            "width": 0.27300000000000013,
+                            "x": 0.7284999999999999,
+                            "y": 0.152
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766389737640_yzzu80zd6",
+                            "x": 0.5325,
+                            "y": 0.512
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抬起爪夹，调整角度，向爪夹方向的前方移动，到达玉米的正上方，下降并抓取玉米，抬起爪夹，向快递箱的方向靠近，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹角度调整错误，在错误地点下降并抓取。",
+            "frame": 266,
+            "progress": -20,
+            "progress_explanation": "当前爪夹在错误的地点下降并抓取，同上一步相比，爪夹需要多一次抬起的动作，因此进度为-20%。",
+            "state_description": "当前爪夹张开，到达萝卜的正上方。为完成把玉米放在快递箱里的任务应当：抬起爪夹，调整角度，移动至玉米的正上方，下降并抓取。",
+            "time": 8.866666666666667
+        },
+        {
+            "action_description": "爪夹抬起，并靠近快递箱。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.156,
+                            "id": "bbox_1766373600586_1766389775248_222mf97gd",
+                            "width": 0.10500000000000007,
+                            "x": 0.5795,
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+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.4706666666666667,
+                            "id": "bbox_1766373600770_1766389768464_i18o91w2y",
+                            "width": 0.27000000000000013,
+                            "x": 0.7295,
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766389771136_6ziq0h9st",
+                            "x": 0.6475000000000001,
+                            "y": 0.48000000000000004
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹松开，调整角度，移动至玉米的正上方，下降并抓取玉米，抬起爪夹，向快递箱的方向靠近，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹没有及时调整角度，而是继续抬起爪夹。",
+            "frame": 310,
+            "progress": -30,
+            "progress_explanation": "当前爪夹合拢。没有及时调整角度，因此进度为-30%。",
+            "state_description": "当前爪夹保持合拢抬起并靠近快递箱。为完成把玉米放在快递箱里的任务应当：松开爪夹，调整角度并靠近玉米，到达玉米的正上方。",
+            "time": 10.333333333333334
+        },
+        {
+            "action_description": "爪夹松开，萝卜掉落。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.15333333333333338,
+                            "id": "bbox_1766373600586_1766389801087_qpeixkbip",
+                            "width": 0.10399999999999991,
+                            "x": 0.5815,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.4693333333333334,
+                            "id": "bbox_1766373600770_1766389798079_nqwl5ojzi",
+                            "width": 0.27600000000000013,
+                            "x": 0.7224999999999999,
+                            "y": 0.15066666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "调整爪夹角度，移动至玉米的正上方，下降并抓取玉米，抬起爪夹，向快递箱的方向靠近，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹抓取错误并松开爪夹，准备重新靠近玉米。",
+            "frame": 390,
+            "progress": -35,
+            "progress_explanation": "当前爪夹松开，萝卜掉落，因此进度为-35%。",
+            "state_description": "当前状态为爪夹松开，萝卜掉落。为完成把玉米放在快递箱里的任务应当：调整角度，靠近玉米，下降并抓取。",
+            "time": 12.98694137783505
+        },
+        {
+            "action_description": "爪夹下降并微调角度。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.18266666666666667,
+                            "id": "bbox_1766373600586_1766478342011_vbt0k9ohx",
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+                            "x": 0.5955,
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+                },
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+                    "instances": [
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+                            "id": "bbox_1766373600770_1766478352307_uw6kdhfh1",
+                            "width": 0.28100000000000014,
+                            "x": 0.7285000000000001,
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+                    ],
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+                    "instances": [
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+                    "type": "point"
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+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766478347339_u0i1uzj8w",
+                            "x": 0.8025,
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+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降至玉米的正上方，下降爪夹并抓取玉米，爪夹抬起，向爪夹方向的左边移动至快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹向爪夹方向的下方移动，在水平方向上接近玉米。",
+            "frame": 410,
+            "progress": 5,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为5%。",
+            "state_description": "当前爪夹张开，在水平距离上接近玉米。为完成把玉米放在电饭煲的内锅里的任务应当：移动至玉米的正上方，下降爪夹并抓取玉米。",
+            "time": 13.674666
+        },
+        {
+            "action_description": "爪夹向爪夹的下方下降。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
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+                            "id": "bbox_1766373600586_1766389826143_nknvrirc3",
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+                    "instances": [
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+                            "id": "bbox_1766373600770_1766389819687_a68ztwr3i",
+                            "width": 0.265,
+                            "x": 0.7345,
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766389822183_tf0c0g8og",
+                            "x": 0.6335,
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降并抓取玉米，爪夹抬起，向爪夹方向的左边移动至快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "爪夹成功移动至玉米的正上方。",
+            "frame": 432,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已位于玉米的正上方，准备下降并抓取，因此进度为20%.",
+            "state_description": "当前状态为爪夹下降并在水平方向上位于玉米的正上方。为完成把玉米放在快递箱里的任务应当：下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动。",
+            "time": 14.41649462010309
+        },
+        {
+            "action_description": "爪夹抬起，靠近快递箱。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.09733333333333336,
+                            "id": "bbox_1766373600586_1766389858951_4m842bjk5",
+                            "width": 0.14400000000000004,
+                            "x": 0.6575,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.47066666666666657,
+                            "id": "bbox_1766373600770_1766389844447_qbg4vewxw",
+                            "width": 0.274,
+                            "x": 0.7265,
+                            "y": 0.14800000000000002
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
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+                            "id": "point_1766373601699_1766389848143_kr6mowyqk",
+                            "x": 0.7095,
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+                    "type": "point"
+                },
+                "point_1766373601858": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601858_1766389850783_ri310n167",
+                            "x": 0.7325,
+                            "y": 0.3706666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至快递箱的正上方，松开爪夹，使玉米落入快递箱。",
+            "error_success_analysis": "爪夹成功抓取玉米。",
+            "frame": 510,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已抬起，向爪夹方向的左边移动，到达快递箱的正上方，因此进度提升至40%。",
+            "state_description": "当前爪夹保持合拢并抬起，垂直于桌面。为完成把玉米放在快递箱里的任务应当：移动至快递箱的正上方，松开爪夹，使玉米落入快递箱。",
+            "time": 17.011683582989694
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左边移动至快递箱的正上方。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
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+                            "id": "bbox_1766373600586_1766389886534_uagnyhnt0",
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+                            "x": 0.8074999999999999,
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+                "bbox_1766373600770": {
+                    "instances": [
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+                            "width": 0.2739999999999999,
+                            "x": 0.7264999999999999,
+                            "y": 0.14933333333333335
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766373601699": {
+                    "instances": [
+                        {
+                            "id": "point_1766373601699_1766389881534_73umsjymx",
+                            "x": 0.8875,
+                            "y": 0.192
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹松开，使玉米落入快递箱中。",
+            "error_success_analysis": "爪夹成功移动至快递箱的上方。",
+            "frame": 530,
+            "progress": 60,
+            "progress_explanation": "当前爪夹已经移动至快递箱的正上方，准备松开爪夹。因此进度为60%。",
+            "state_description": "当前爪夹移动至快递箱的正上方。为完成把玉米放在快递箱里的任务应当：爪夹松开，使玉米落入快递箱中。",
+            "time": 17.671477387113402
+        },
+        {
+            "action_description": "爪夹松开，玉米掉落。",
+            "annotations": {
+                "bbox_1766373600586": {
+                    "instances": [
+                        {
+                            "height": 0.0653333333333333,
+                            "id": "bbox_1766373600586_1766389910334_f51ighgag",
+                            "width": 0.1379999999999999,
+                            "x": 0.6295000000000001,
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+                    "type": "bbox"
+                },
+                "bbox_1766373600770": {
+                    "instances": [
+                        {
+                            "height": 0.46799999999999997,
+                            "id": "bbox_1766373600770_1766389905758_h0qcdbivc",
+                            "width": 0.2720000000000001,
+                            "x": 0.7265,
+                            "y": 0.15066666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "调整爪夹角度并靠近玉米，到达玉米的正上方，下降爪夹并进行抓取，抬起爪夹，向爪夹方向的左边移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。",
+            "error_success_analysis": "玉米没有掉落在快递箱中。",
+            "frame": 592,
+            "progress": 0,
+            "progress_explanation": "当前爪夹松开，玉米掉落在桌面，因此进度为0%",
+            "state_description": "当前状态为爪夹松开，玉米掉落在桌面，为完成把玉米放在快递箱里的任务应当：爪夹向爪夹方向的后方移动，到达玉米的正上方，下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动，至快递箱的正上方，松开爪夹，使玉米落入快递箱里。\n",
+            "time": 19.73883130670103
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766373600586",
+            "name": "玉米"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766373600770",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766373601699",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766373601858",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-180358-mix-corn-rice-cooker/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,666 @@
+{
+    "task_description": "把玉米放在电饭煲的内锅里。\n爪夹开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并靠近内锅：60%\n爪夹保持合拢并移动到内锅的正上方：80%\n爪夹松开，玉米落入内锅：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.16266666666666663,
+                            "id": "bbox_1766393131861_1766472874550_37cg50pd2",
+                            "width": 0.12100000000000004,
+                            "x": 0.26949999999999996,
+                            "y": 0.5800000000000001
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.2986666666666667,
+                            "id": "bbox_1766393132204_1766472880758_7oijklykp",
+                            "width": 0.22300000000000003,
+                            "x": 0.4095,
+                            "y": 0.45199999999999996
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766472883222_dwh57n61p",
+                            "x": 0.4305,
+                            "y": 0.36133333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766472886047_yaew3wj4a",
+                            "x": 0.5255,
+                            "y": 0.38533333333333336
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹调整角度，靠近玉米，向爪夹方向的右前方移动，到达玉米的正上方，下降并抓取玉米，爪夹垂直上升，向爪夹方向的左边移动，至电饭煲的内锅的正上方，松开爪夹，使玉米落入内锅。",
+            "error_success_analysis": "",
+            "frame": 40,
+            "progress": 0,
+            "progress_explanation": "当前爪夹保持初始状态，没有移动，没有接触玉米，因此进度为0%。",
+            "state_description": "当前状态为爪夹张开，没有移动，没有接触玉米。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹调整角度，靠近玉米，向爪夹方向的右前方移动，到达玉米的正上方。",
+            "time": 1.341305862371134
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方微调，并调整爪夹角度。\t\t\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.16399999999999995,
+                            "id": "bbox_1766393131861_1766396552400_lclzcslag",
+                            "width": 0.121,
+                            "x": 0.2685,
+                            "y": 0.5813333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.29733333333333334,
+                            "id": "bbox_1766393132204_1766396557880_44ei38i95",
+                            "width": 0.22300000000000003,
+                            "x": 0.4085,
+                            "y": 0.4533333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396546992_cilaqus66",
+                            "x": 0.4295,
+                            "y": 0.3706666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766396544672_j59vdimg2",
+                            "x": 0.5385000000000001,
+                            "y": 0.3906666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的���前方移动，到达玉米的正上方，下降并抓取玉米，爪夹垂直上升，向爪夹方向的左边移动，至电饭煲的内锅的正上方，松开爪夹，使玉米落入内锅。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上接近玉米",
+            "frame": 68,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%",
+            "state_description": "当前爪夹张开，并调整角度，与玉米的水平距离略微缩短。为完成把玉米放在电饭煲的内锅里的任务应当：向爪夹方向的右前方移动，到达玉米的正上方，下降并抓取玉米。",
+            "time": 2.265567044845361
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，移动至玉米的正上方。\t\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.16399999999999995,
+                            "id": "bbox_1766393131861_1766396571024_qhvqjueiz",
+                            "width": 0.11800000000000002,
+                            "x": 0.27149999999999996,
+                            "y": 0.5813333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.3066666666666666,
+                            "id": "bbox_1766393132204_1766396565576_jqx4dl5f4",
+                            "width": 0.22400000000000012,
+                            "x": 0.42749999999999994,
+                            "y": 0.45600000000000007
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396573752_c1ilrh4hi",
+                            "x": 0.2555,
+                            "y": 0.6186666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅，松开爪夹，使玉米落入内锅里。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近黄瓜，到达玉米的正上方，准备抓取。",
+            "frame": 159,
+            "progress": 15,
+            "progress_explanation": "当前爪夹已成功移动至玉米的正上方，因此进度提升至15%。",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，与玉米的水平距离进一步缩短。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹下降并抓取玉米，抬起爪夹向爪夹方向的左边移动至盘子的正上方。",
+            "time": 5.3088660603092785
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左边移动。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.16400000000000017,
+                            "id": "bbox_1766393131861_1766396593248_lajzbjund",
+                            "width": 0.12200000000000003,
+                            "x": 0.2705,
+                            "y": 0.5826666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.30266666666666675,
+                            "id": "bbox_1766393132204_1766396584896_mpevajb57",
+                            "width": 0.22199999999999998,
+                            "x": 0.5655,
+                            "y": 0.47866666666666663
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396587688_37n3evc51",
+                            "x": 0.4465,
+                            "y": 0.6586666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "重新靠近玉米，移动至玉米的正上方，下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅，松开爪夹，使玉米落入内锅里。",
+            "error_success_analysis": "爪夹没有及时下降进行抓取动作，而是向爪夹方向的左边移动。",
+            "frame": 237,
+            "progress": 5,
+            "progress_explanation": "当前爪夹已经在水平方向上远离了玉米，因此进度下降至5%。",
+            "state_description": "当前爪夹向爪夹方向的左边移动并远离玉米。为完成把玉米放在电饭煲的内锅里的任务应当：重新靠近玉米，移动至玉米的正上方，下降并抓取玉米。",
+            "time": 7.901305962371133
+        },
+        {
+            "action_description": "爪夹向爪夹的右边移动，到达玉米的正上方。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.15866666666666684,
+                            "id": "bbox_1766393131861_1766396633951_7appyfo4b",
+                            "width": 0.11999999999999997,
+                            "x": 0.2705,
+                            "y": 0.5839999999999999
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.29866666666666664,
+                            "id": "bbox_1766393132204_1766396645663_yaytzv6ox",
+                            "width": 0.2250000000000001,
+                            "x": 0.5705,
+                            "y": 0.48533333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396637063_1a6vgcn79",
+                            "x": 0.23349999999999999,
+                            "y": 0.5933333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766396640295_xxldzxdwl",
+                            "x": 0.3375,
+                            "y": 0.6226666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹重新调整角度，成功移动至玉米的正上方。",
+            "frame": 318,
+            "progress": 15,
+            "progress_explanation": "当前爪夹已经位于玉米的正上方，因此进度为15%。",
+            "state_description": "当前状态为爪夹保持张开状态，并移动至玉米的正上方。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方。",
+            "time": 10.583917687113402
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取玉米。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.2013333333333333,
+                            "id": "bbox_1766393131861_1766396670791_egn8v49rh",
+                            "width": 0.06400000000000002,
+                            "x": 0.28450000000000003,
+                            "y": 0.5693333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.29333333333333333,
+                            "id": "bbox_1766393132204_1766396663519_noqllthzn",
+                            "width": 0.22800000000000004,
+                            "x": 0.5665,
+                            "y": 0.4853333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396666319_ttsupuxbk",
+                            "x": 0.2835,
+                            "y": 0.6706666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹保持合拢并抬起，向爪夹方向的左边移动，到达内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取玉米。",
+            "frame": 361,
+            "progress": 30,
+            "progress_explanation": "当前爪夹成功抓住玉米，因此进度为30%。",
+            "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玉米。为完成把玉米放在电饭煲的内锅里的任务应当：垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到电饭煲的内锅的正上方。",
+            "time": 12.026666850000002
+        },
+        {
+            "action_description": "爪夹上升，抓住玉米向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.1746666666666666,
+                            "id": "bbox_1766393131861_1766396696127_5056wbtsg",
+                            "width": 0.077,
+                            "x": 0.3135,
+                            "y": 0.47600000000000003
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.3040000000000001,
+                            "id": "bbox_1766393132204_1766396686911_l5oai1p59",
+                            "width": 0.225,
+                            "x": 0.5695,
+                            "y": 0.48266666666666663
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396690911_bw0hyuvff",
+                            "x": 0.3165,
+                            "y": 0.5706666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左边移动，到达内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹成功抓住玉米，并靠近内锅。",
+            "frame": 406,
+            "progress": 40,
+            "progress_explanation": "当前爪夹成功抓住玉米，并在水平方向上接近内锅，因此进度为40%。",
+            "state_description": "当前爪夹合拢，抓住玉米，垂直上升。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹保持合拢，抓取杯子向爪夹方向的左侧移动，直至电饭煲的内锅的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 13.537044879896907
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左边移动。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.2,
+                            "id": "bbox_1766393131861_1766396721262_fcx3h65kl",
+                            "width": 0.052000000000000046,
+                            "x": 0.5125,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.304,
+                            "id": "bbox_1766393132204_1766396710462_2t818mj1r",
+                            "width": 0.22599999999999998,
+                            "x": 0.5685,
+                            "y": 0.48133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396713390_27ur6av0p",
+                            "x": 0.4445,
+                            "y": 0.4746666666666667
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+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766396715926_5tnmpaa2y",
+                            "x": 0.5495,
+                            "y": 0.456
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，重新抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹没有移动到内锅的正上方。",
+            "frame": 453,
+            "progress": 0,
+            "progress_explanation": "当前爪夹松开，使玉米掉落，因此进度下降至0%。",
+            "state_description": "当前爪夹爪夹松开，玉米掉落。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹下降，重新抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方。",
+            "time": 15.092508821134018
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方微调，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
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+                            "height": 0.19866666666666669,
+                            "id": "bbox_1766393131861_1766396727414_4h500gm46",
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+                            "x": 0.4885,
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+                    "type": "bbox"
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+                "bbox_1766393132204": {
+                    "instances": [
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+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396730766_ig3nxb9iu",
+                            "x": 0.3795,
+                            "y": 0.5693333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766396733566_x3ce459am",
+                            "x": 0.48250000000000004,
+                            "y": 0.5626666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至玉米的正上方，下降爪夹并抓取玉米，抬起爪夹，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹向爪夹方向的右边移动，水平方向上成功接近玉米，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 482,
+            "progress": 20,
+            "progress_explanation": "爪夹调整角度，接近玉米，因此进度为20%。",
+            "state_description": "当前状态为爪夹调整角度并在水平方向上靠近玉米。为完成把玉米放在电饭煲的内锅里的任务应当：移动至玉米的正上方，下降爪夹并抓取玉米，抬起爪夹。",
+            "time": 16.061855914948456
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取玉米。",
+            "annotations": {
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.3053333333333334,
+                            "id": "bbox_1766393132204_1766396748334_gr3owj4hp",
+                            "width": 0.22700000000000004,
+                            "x": 0.5825,
+                            "y": 0.492
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹抬起，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹下降，成功抓取玉米。",
+            "frame": 525,
+            "progress": 35,
+            "progress_explanation": "当前爪夹已成功抓取玉米，因此进度提升至35%。",
+            "state_description": "当前状态为爪夹下降并进行抓取动作。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹抬起，向爪夹方向的左边移动至内锅的正上方，将玉米放入内锅里。",
+            "time": 17.504605077835052
+        },
+        {
+            "action_description": "爪夹上升，抓住玉米向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.12266666666666672,
+                            "id": "bbox_1766393131861_1766396770654_xs0ptwto9",
+                            "width": 0.09100000000000001,
+                            "x": 0.4655,
+                            "y": 0.36
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.28933333333333333,
+                            "id": "bbox_1766393132204_1766396777246_va7nvxs4i",
+                            "width": 0.23000000000000007,
+                            "x": 0.5785,
+                            "y": 0.49333333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396781126_wt6xc61nw",
+                            "x": 0.47450000000000003,
+                            "y": 0.45466666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至内锅的正上方，将玉米放入内锅里，松开爪夹，使玉米落入内锅中。",
+            "error_success_analysis": "爪夹成功抓取玉米，并在向着内锅的方向靠近。",
+            "frame": 570,
+            "progress": 60,
+            "progress_explanation": "当前爪夹成功抓住玉米，并在水平方向上接近内锅，因此进度为60%。",
+            "state_description": "当前爪夹合拢，抓住玉米，垂直上升。为完成把玉米放在电饭煲的内锅里的任务应当：爪夹保持合拢，抓取杯子向爪夹方向的左侧移动，直至电饭煲的内锅的正上方。",
+            "time": 18.992440152061857
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧玉米向爪夹方向的左侧移动。\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.1493333333333333,
+                            "id": "bbox_1766393131861_1766396804957_ku2sktxax",
+                            "width": 0.129,
+                            "x": 0.6375,
+                            "y": 0.5026666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.29200000000000004,
+                            "id": "bbox_1766393132204_1766396795453_emlqfc0i7",
+                            "width": 0.22600000000000006,
+                            "x": 0.5825,
+                            "y": 0.5
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396799534_52qrg7oix",
+                            "x": 0.6735,
+                            "y": 0.6213333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使玉米落入内锅。",
+            "error_success_analysis": "爪夹已成功抓住玉米并移动至内锅的正上方。",
+            "frame": 594,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已抓住玉米并成功移动至内锅的正上方，因此进度为80%。",
+            "state_description": "当前爪夹合找，垂直于桌面，抓住玉米处于内锅的正上方。为完成把玉米放在电饭煲的内锅里的任务应当：松开爪夹，使玉米落入内锅。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 19.8112
+        },
+        {
+            "action_description": "爪夹松开，玉米落下。",
+            "annotations": {
+                "bbox_1766393131861": {
+                    "instances": [
+                        {
+                            "height": 0.184,
+                            "id": "bbox_1766393131861_1766396817709_w2uaxi9r5",
+                            "width": 0.079,
+                            "x": 0.6505,
+                            "y": 0.5666666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393132204": {
+                    "instances": [
+                        {
+                            "height": 0.29600000000000004,
+                            "id": "bbox_1766393132204_1766396827621_vwa3du94g",
+                            "width": 0.23100000000000004,
+                            "x": 0.5775,
+                            "y": 0.49600000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393133164": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133164_1766396820925_c8tolguaz",
+                            "x": 0.5985,
+                            "y": 0.5866666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393133596": {
+                    "instances": [
+                        {
+                            "id": "point_1766393133596_1766396823070_7yd2ozsk3",
+                            "x": 0.6975,
+                            "y": 0.5333333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "玉米成功落入锅里。",
+            "frame": 651,
+            "progress": 100,
+            "progress_explanation": "当前玉米已落入锅里，因此进度为100%。",
+            "state_description": "当前爪夹松开，玉米落入内锅里。已完成把玉米放在电饭煲的内锅里的任务。",
+            "time": 21.697594832474227
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766393131861",
+            "name": "玉米"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766393132204",
+            "name": "内锅"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766393133164",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766393133596",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-181722-bad-corn-rice-cooker/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,546 @@
+{
+    "task_description": "将玉米放入电饭煲的内胆中。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近电饭煲的内胆：60%\n爪夹将玉米放入电饭煲的内胆中：80%\n爪夹松开，使玉米落入电饭煲的内胆中：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开扶态，暂未移动。\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.12666666666666662,
+                            "id": "bbox_1766460057372_1766470326166_jgan4qhkf",
+                            "width": 0.125,
+                            "x": 0.4135,
+                            "y": 0.4746666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.26799999999999996,
+                            "id": "bbox_1766460057692_1766470350653_lvaau5gmx",
+                            "width": 0.20699999999999993,
+                            "x": 0.6465000000000001,
+                            "y": 0.29333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1766470342349_8uik24j2g",
+                            "x": 0.4575,
+                            "y": 0.36666666666666664
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1766470345909_kw440fc43",
+                            "x": 0.5425,
+                            "y": 0.3813333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达玉米正上方后下降，抓取玉米后垂直上升，向爪夹方向的左边移动，直至玉米处于电饭煲的内胆正上方。下降将玉米放入电饭煲的内胆中，松开爪夹，使玉米落入电饭煲的内胆里。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "",
+            "frame": 55,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触玉米，为完成将玉米放入电饭煲的内胆中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取玉米。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 1.8314432989690725
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.12799999999999995,
+                            "id": "bbox_1766460057372_1766470370861_6eitrzdu0",
+                            "width": 0.12599999999999997,
+                            "x": 0.41150000000000003,
+                            "y": 0.4733333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.2666666666666667,
+                            "id": "bbox_1766460057692_1766470360533_86aaeo3jv",
+                            "width": 0.20099999999999998,
+                            "x": 0.6515000000000001,
+                            "y": 0.2906666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1766470363101_n92brjheq",
+                            "x": 0.47450000000000003,
+                            "y": 0.36533333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1766470365037_lu7ru5b0a",
+                            "x": 0.5715,
+                            "y": 0.3626666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右前方移动，到达玉米正上方后下降，抓取玉米后垂直上升，向爪夹方向的左边移动，直至玉米处于电饭煲的内胆正上方。下降将玉米放入电饭煲的内胆中，松开爪夹，使玉米落入电饭煲的内胆里。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近玉米，并使爪夹角度向垂直于桌面调整，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "frame": 73,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度提升为10%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，与水平方向呈60度角，与玉米的水平距离略微缩短。为完成将玉米放入电饭煲的内胆中的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至玉米正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "time": 2.4190721649484535
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.12666666666666662,
+                            "id": "bbox_1766460057372_1766470389093_9c6usfms8",
+                            "width": 0.12299999999999996,
+                            "x": 0.41450000000000004,
+                            "y": 0.4733333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.2666666666666666,
+                            "id": "bbox_1766460057692_1766470379133_o4dmyg3xd",
+                            "width": 0.20699999999999993,
+                            "x": 0.6495,
+                            "y": 0.2906666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1766470382013_cl68e2b9h",
+                            "x": 0.45549999999999996,
+                            "y": 0.47733333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1766470384565_r715bh9zd",
+                            "x": 0.5475000000000001,
+                            "y": 0.468
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹到达玉米正上方后下降，抓取玉米后垂直上升，向爪夹方向的左边移动，直至玉米处于电饭煲的内胆正上方。下降将玉米放入电饭煲的内胆中，松开爪夹，使玉米落入电饭煲的内胆里。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近玉米，并使爪夹角度向垂直于桌面，方便抓取。",
+            "frame": 83,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上进一步接近玉米并调整完爪夹角度方便抓取，因此进度提升为15%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，与玉米的水平距离进一步缩短。为完成将玉米放入电饭煲的内胆中的任务应当：继续向爪夹方向的右前方移动直至玉米正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 2.771649484536083
+        },
+        {
+            "action_description": "爪夹爪夹的下方移动，并向爪夹的下方调整爪夹方向，使爪夹垂直于玉米的正上方。",
+            "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到电饭煲的内胆正上方。，爪夹松开，使玉米落入电饭煲的内胆中。",
+            "error_success_analysis": "爪夹向爪夹的下方移动，并调整爪夹方向，使爪夹在水平方向上成功垂直于玉米的正上方。",
+            "frame": 122,
+            "progress": 30,
+            "progress_explanation": "当前爪夹已经移动到玉米的正上方，因此进度提升至30%。",
+            "state_description": "当前爪夹张开，在水平方向上位于玉米的正上方。\n为完成将玉米放入电饭煲的内胆中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到电饭煲的内胆正上方。\t",
+            "time": 4.066
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动，合拢爪夹抓取玉米。\t\t\t\t\t\t\t\t\t",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.14133333333333334,
+                            "id": "bbox_1766460057372_1766470402877_zeexkueif",
+                            "width": 0.08499999999999996,
+                            "x": 0.4575,
+                            "y": 0.42933333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.26933333333333337,
+                            "id": "bbox_1766460057692_1766470396269_0kvpfe0vw",
+                            "width": 0.209,
+                            "x": 0.6465,
+                            "y": 0.28800000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1766470398413_cian17lck",
+                            "x": 0.4625,
+                            "y": 0.5306666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左边移动，直至玉米处于电饭煲的内胆正上方。下降将玉米放入电饭煲的内胆中，松开爪夹，使玉米落入电饭煲的内胆里。",
+            "error_success_analysis": "爪夹向下移动，成功抓取玉米",
+            "frame": 172,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取玉米，因此进度提升为40%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到玉米。\n为完成将玉米放入电饭煲的内胆中的任务应当：垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到电饭煲的内胆正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "time": 5.718999
+        },
+        {
+            "action_description": "爪夹向爪夹的前方移动，并向爪夹的上方调整爪夹方向。",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.17893217893217894,
+                            "id": "bbox_1766460057372_1768357163420_u6bvwkzxg",
+                            "width": 0.1500721500721501,
+                            "x": 0.5584415584415584,
+                            "y": 0.3424723424723425
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.27128427128427124,
+                            "id": "bbox_1766460057692_1768357156748_84o5tq9fv",
+                            "width": 0.2034632034632035,
+                            "x": 0.6522366522366523,
+                            "y": 0.2866762866762867
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1768357159332_0a6ox58xi",
+                            "x": 0.5988455988455988,
+                            "y": 0.47715247715247716
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹的下方调整爪夹方向，使爪夹垂直于桌面，并向爪夹的左后方移动，靠近电饭煲的内胆，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落入电饭煲的内胆中。",
+            "error_success_analysis": "爪夹向爪夹的前方移动，并远离了电饭煲的内胆，没有同上一步向爪夹的左侧移动，靠近电饭煲的内胆。",
+            "frame": 202,
+            "progress": 30,
+            "progress_explanation": "当前爪夹保持合拢，略微远离电饭煲的内胆，因此进度下降至30%。",
+            "state_description": "当前爪夹合拢，在水平方向上远离了电饭煲的内胆。\n为完成将玉米放入电饭煲的内胆中的任务应当：爪夹向爪夹的下方调整爪夹方向，并向爪夹的左后方移动，靠近电饭煲的内胆。",
+            "time": 6.744999
+        },
+        {
+            "action_description": "爪夹继续向爪夹的前方移动，继续远离电饭煲的内胆。",
+            "annotations": {
+                "bbox_1766460057372": {
+                    "instances": [
+                        {
+                            "height": 0.13852813852813858,
+                            "id": "bbox_1766460057372_1768357169148_6o4ismolz",
+                            "width": 0.13852813852813856,
+                            "x": 0.5656565656565656,
+                            "y": 0.7946127946127945
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.28475228475228476,
+                            "id": "bbox_1766460057692_1768357174508_mbskdiasw",
+                            "width": 0.22366522366522368,
+                            "x": 0.6363636363636364,
+                            "y": 0.27705627705627706
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1768357171180_ju7uomsxk",
+                            "x": 0.5916305916305916,
+                            "y": 0.9254449254449254
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹的下方调整爪夹方向，使爪夹垂直于桌面，并向爪夹的左后方移动，靠近电饭煲的内胆，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落入电饭煲的内胆中。",
+            "error_success_analysis": "爪夹没有向爪夹的左后方移动，靠近电饭煲的内胆，而是保持爪夹合拢，继续向爪夹的前方移动，再次远离电饭煲的内胆。",
+            "frame": 303,
+            "progress": 20,
+            "progress_explanation": "当前爪夹保持合拢，再度远离电饭煲的内胆，因此进度下降至20%。",
+            "state_description": "当前爪夹合拢，在水平方向上再度远离了电饭煲的内胆。\n为完成将玉米放入电饭煲的内胆中的任务应当：爪夹向爪夹的下方调整爪夹方向，并向爪夹的左后方移动，靠近电饭煲的内胆。",
+            "time": 10.108
+        },
+        {
+            "action_description": "爪夹张开，玉米掉落",
+            "annotations": {
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.25866666666666666,
+                            "id": "bbox_1766460057692_1766470412373_xrkppf6s6",
+                            "width": 0.20299999999999993,
+                            "x": 0.6515000000000001,
+                            "y": 0.29600000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1766470414549_8mzeez4u5",
+                            "x": 0.5245,
+                            "y": 0.8946666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1766470416813_01pfus1py",
+                            "x": 0.6725000000000001,
+                            "y": 0.8893333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹向玉米的方向靠近，爪夹移动到玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并向爪夹的上方抬起，随后向电饭煲的内胆的方向靠近，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落在电饭煲的内胆中。",
+            "error_success_analysis": "爪夹没有及时调整角度，并向电饭煲的内胆靠近，而是继续向前。",
+            "frame": 352,
+            "progress": -10,
+            "progress_explanation": "当前爪夹松开，玉米掉落至桌子外，因此进度下降至-10%",
+            "state_description": "当前爪夹向爪夹方向的前方移动，并松开松夹。为完成将玉米放入电饭煲的内胆中的任务应当：重新调整角度，下降抓取玉米。",
+            "time": 11.720965309200604
+        },
+        {
+            "action_description": "爪夹向爪夹的下方移动，并向爪夹的下方调整爪夹的方向。",
+            "annotations": {
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.2616642616642616,
+                            "id": "bbox_1766460057692_1768357181028_7nyh7cvsy",
+                            "width": 0.20346320346320343,
+                            "x": 0.6479076479076479,
+                            "y": 0.2982202982202982
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1768357183507_7iug85bra",
+                            "x": 0.5468975468975469,
+                            "y": 0.81000481000481
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1768357185604_gowwv5ifa",
+                            "x": 0.6536796536796536,
+                            "y": 0.7772967772967774
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹向玉米的方向靠近，爪夹移动到玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并向爪夹的上方抬起，随后向电饭煲的内胆的方向靠近，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落在电饭煲的内胆中。",
+            "error_success_analysis": "画面外没有出现一只手将玉米从地上拿起，并将玉米放在桌子上，爪夹向爪夹的下方移动，没有抓取目标。",
+            "frame": 394,
+            "progress": -20,
+            "progress_explanation": "当前爪夹张开，向爪夹的下方调整爪夹的方向，画面外没有出现一只手将玉米从地上拿起，并放在桌子上，因此进度下降至-20%。",
+            "state_description": "当前爪夹张开，在水平方向上位于海绵擦的正上方。\n为完成将玉米放入电饭煲的内胆中的任务应当：画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹向玉米的方向靠近，爪夹移动到玉米的正上方。",
+            "time": 13.125188536953242
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，位于桌子边缘处。",
+            "annotations": {
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.2655122655122655,
+                            "id": "bbox_1766460057692_1768357192084_zffz3hax9",
+                            "width": 0.20202020202020207,
+                            "x": 0.6536796536796536,
+                            "y": 0.2905242905242905
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹向玉米的方向靠近，爪夹移动到玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并向爪夹的上方抬起，随后向电饭煲的内胆的方向靠近，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落在电饭煲的内胆中。",
+            "error_success_analysis": "玉米没有被放回桌子上，爪夹无法抓取目标，并向爪夹的下方移动，位于苦瓜的正上方。",
+            "frame": 420,
+            "progress": -30,
+            "progress_explanation": "当前玉米没有被放回桌子上，爪夹无法抓取目标，因此进度下降至-30%。",
+            "state_description": "当前爪夹张开，在水平方向上位于苦瓜的正上方。\n为完成将玉米放入电饭煲的内胆中的任务应当：画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹保持张开，并向爪夹的上方抬起，随后爪夹向玉米的方向靠近，爪夹移动到玉米的正上方。",
+            "time": 14.013574660633484
+        },
+        {
+            "action_description": "爪夹向爪夹的后方略微移动，并合拢爪夹。",
+            "annotations": {
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.27128427128427124,
+                            "id": "bbox_1766460057692_1768357199460_09n47cgm3",
+                            "width": 0.2121212121212121,
+                            "x": 0.6421356421356421,
+                            "y": 0.28475228475228476
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1768357211227_wezl1j2gx",
+                            "x": 0.49350649350649356,
+                            "y": 0.7811447811447813
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1768357212827_l6k5cdu70",
+                            "x": 0.5064935064935064,
+                            "y": 0.7849927849927849
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹张开，并向爪夹的下方调整爪夹的方向，使爪夹垂直于桌面，随后向玉米的方向靠近，爪夹移动到玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并向爪夹的上方抬起，随后向电饭煲的内胆的方向靠近，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落在电饭煲的内胆中。",
+            "error_success_analysis": "玉米没有放回桌子上，爪夹向爪机的后方移动，并合拢爪夹，远离玉米。",
+            "frame": 492,
+            "progress": -40,
+            "progress_explanation": "当前爪夹合拢，远离了玉米，因此进度下降至-40%。",
+            "state_description": "当前爪夹合拢，在水平方向上倾斜于桌子上方。\n为完成将玉米放入电饭煲的内胆中的任务应当：画面外伸出手将玉米放回桌子上，爪夹张开，并向玉米的方向移动，靠近玉米。",
+            "time": 16.3921568627451
+        },
+        {
+            "action_description": "爪夹保持合拢，并向爪夹的后方移动，随后张开爪夹。",
+            "annotations": {
+                "bbox_1766460057692": {
+                    "instances": [
+                        {
+                            "height": 0.2539682539682539,
+                            "id": "bbox_1766460057692_1768357222523_2o9w6l3j4",
+                            "width": 0.2121212121212121,
+                            "x": 0.645021645021645,
+                            "y": 0.30014430014430016
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766460058612": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058612_1768357218411_rpwa08cs8",
+                            "x": 0.4834054834054834,
+                            "y": 0.38672438672438675
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766460058828": {
+                    "instances": [
+                        {
+                            "id": "point_1766460058828_1768357216531_kdczy7sxm",
+                            "x": 0.5800865800865801,
+                            "y": 0.36748436748436747
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "画面外出现一只手将玉米从地上拿起，并放在桌子上，爪夹向玉米的方向靠近，爪夹移动到玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，并向爪夹的上方抬起，随后向电饭煲的内胆的方向靠近，爪夹移动到电饭煲的内胆的正上方，爪夹松开，使玉米落在电饭煲的内胆中。",
+            "error_success_analysis": "画面外没有出现一只手将玉米从地上拿起，并将玉米放在桌子上，爪夹向爪夹的后方移动，并张开爪夹。",
+            "frame": 570,
+            "progress": -50,
+            "progress_explanation": "当前爪夹张开，位于初始位置，玉米没有被放回桌子上，因此进度下降至-50%。",
+            "state_description": "当前爪夹张开，位于初始位置，玉米也没有在桌子上。\n为完成将玉米放入电饭煲的内胆中的任务应当：从画面外伸出只手，将桌子下方的玉米拿起，并放在桌子上，爪夹保持张开，并向玉米的方向移动，靠近玉米，并移动到玉米的正上方��",
+            "time": 19
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766460057372",
+            "name": "玉米"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766460057692",
+            "name": "电饭煲的内胆"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766460058612",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766460058828",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184050-bad-corn-plate/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,492 @@
+{
+    "task_description": "把玉米放在盘子上。\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近盘子：60%\n爪夹保持合拢并移动到盘子的上方：80%\n爪夹松开，使玉米落入盘子里：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。\n",
+            "annotations": {
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.256,
+                            "id": "bbox_1766556890099_1766556918195_2043edm1h",
+                            "width": 0.217,
+                            "x": 0.5655,
+                            "y": 0.5
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766556920547_5dnjarbbr",
+                            "x": 0.4795,
+                            "y": 0.3106666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556891563": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1766556923859_h64w0ebdb",
+                            "x": 0.5785,
+                            "y": 0.3026666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达玉米的正上方，下降并抓取玉米，抬起爪夹，向爪夹方向的左前方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "",
+            "frame": 58,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触玉米。\n为完成把玉米放在盘子上的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取玉米。",
+            "time": 1.947646093298969
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方微调角度，在水平方向上略微接近玉米。\n",
+            "annotations": {
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.264,
+                            "id": "bbox_1766556890099_1766556933474_iy1zq9vcj",
+                            "width": 0.22199999999999998,
+                            "x": 0.5645,
+                            "y": 0.492
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766556929642_6egxj5wmo",
+                            "x": 0.45949999999999996,
+                            "y": 0.37333333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556891563": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1766556926883_f1x2dpmnk",
+                            "x": 0.5615,
+                            "y": 0.35733333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的右前方移动，到达玉米的正上方，下降并抓取玉米，抬起爪夹，向爪夹方向的左前方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近玉米。\n",
+            "frame": 92,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%。\n",
+            "state_description": "当前爪夹张开，在水平距离上接近玉米。\n为完成把玉米放在盘子上的任务应当：爪夹方向的右前方移动，到达玉米的正上方，下降并抓取玉米。",
+            "time": 3.0732818582474226
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，移动至玉米的正上方。\n",
+            "annotations": {
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.26400000000000007,
+                            "id": "bbox_1766556890099_1766556939443_klxocpqxz",
+                            "width": 0.21699999999999992,
+                            "x": 0.5665000000000001,
+                            "y": 0.48933333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766556943659_egkprmvki",
+                            "x": 0.4505,
+                            "y": 0.484
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556891563": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1766556941546_ucv0tiuv7",
+                            "x": 0.5335,
+                            "y": 0.48933333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降爪夹并抓取玉米，抬起爪夹，向爪夹方向的左前方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近玉米，到达玉米的正上方，准备抓取。\n",
+            "frame": 115,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已成功移动至玉米的正上方，因此进度为20%。\n",
+            "state_description": "当前爪夹张开，到达玉米的正上方。\n为完成把玉米放在盘子上的任务应当：下降并抓取玉米，抬起爪夹，向爪夹方向的左前方移动。",
+            "time": 3.8359
+        },
+        {
+            "action_description": "爪夹下降，合拢爪夹并抓取玉米。\n",
+            "annotations": {
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.264,
+                            "id": "bbox_1766556890099_1766556983970_7niwd2efs",
+                            "width": 0.21500000000000002,
+                            "x": 0.5655,
+                            "y": 0.4906666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抬起爪夹，向爪夹方向的左前方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取玉米。\n",
+            "frame": 160,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取玉米，因此进度提升为40%。\n",
+            "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玉米。\n为完成把玉米放在盘子上的任务应当：抬起爪夹，向爪夹方向的左前方移动，到盘子的正上方。",
+            "time": 5.32455338814433
+        },
+        {
+            "action_description": "爪夹上升，抓住玉米向爪夹方向的左前方移动。\n",
+            "annotations": {
+                "bbox_1766556889947": {
+                    "instances": [
+                        {
+                            "height": 0.12266666666666672,
+                            "id": "bbox_1766556889947_1766557000818_3nnw8uldp",
+                            "width": 0.09100000000000001,
+                            "x": 0.4485,
+                            "y": 0.2786666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.2573333333333333,
+                            "id": "bbox_1766556890099_1766556994106_1k6xvhij0",
+                            "width": 0.20900000000000007,
+                            "x": 0.5715,
+                            "y": 0.49333333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766556996370_vxbv6j8z3",
+                            "x": 0.45949999999999996,
+                            "y": 0.37466666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动到到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹成功抓取玉米，并在向着盘子的方向靠近。\n",
+            "frame": 186,
+            "progress": 60,
+            "progress_explanation": "当前��夹成功抓住玉米，并在水平方向上接近盘子，因此进度为60%。\n",
+            "state_description": "当前爪夹合拢，抓住玉米，垂直于桌面。\n为完成把玉米放在盘子上的任务应当：向爪夹方向的左前方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "time": 6.183591208762887
+        },
+        {
+            "action_description": "爪夹保持合拢，向爪夹方向的右前方移动。",
+            "annotations": {
+                "bbox_1766556889947": {
+                    "instances": [
+                        {
+                            "height": 0.15066666666666664,
+                            "id": "bbox_1766556889947_1766557006410_9jrbdrbnd",
+                            "width": 0.07599999999999998,
+                            "x": 0.40049999999999997,
+                            "y": 0.42133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.2546666666666667,
+                            "id": "bbox_1766556890099_1766557013386_00tcxgiaj",
+                            "width": 0.2119999999999999,
+                            "x": 0.5725,
+                            "y": 0.4986666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766557009106_x6y8qteok",
+                            "x": 0.3955,
+                            "y": 0.5186666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹的左边移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹已经抓住玉米，但是没有移动到盘子的正上方，而是继续向爪夹的前方移动。",
+            "frame": 209,
+            "progress": 20,
+            "progress_explanation": "爪夹没有移动到盘子的正上方，而是向爪夹的右前方移动至内胆的正上方，因此进度下降至20%。",
+            "state_description": "当前爪夹保持合拢，在水平方面上位于内胆的正上方。\n为完成把玉米放在盘子上的任务应当：向爪夹的左边移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "time": 6.953466
+        },
+        {
+            "action_description": "爪夹张开，玉米落下。\n",
+            "annotations": {
+                "bbox_1766556889947": {
+                    "instances": [
+                        {
+                            "height": 0.18266666666666667,
+                            "id": "bbox_1766556889947_1766557023090_nk0blvyv3",
+                            "width": 0.06100000000000003,
+                            "x": 0.4225,
+                            "y": 0.5786666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.2546666666666667,
+                            "id": "bbox_1766556890099_1766557018162_lgtq5hh11",
+                            "width": 0.21200000000000002,
+                            "x": 0.5705,
+                            "y": 0.4986666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766557026010_2yihxdnmy",
+                            "x": 0.3905,
+                            "y": 0.49733333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556891563": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1766557029002_xgup8ptjd",
+                            "x": 0.5095,
+                            "y": 0.5093333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "降爪夹并抓取玉米，抬起爪夹，向爪夹的左边移动至盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "当前爪夹没有将玉米放入盘子里，而是将玉米放在了内胆里。",
+            "frame": 265,
+            "progress": -10,
+            "progress_explanation": "爪夹松开，将玉米放在了电饭煲内胆里，��此进度下降至-10%。",
+            "state_description": "当前爪夹张开，玉米落入内胆里。\n为完成把玉米放在盘子上的任务应当：下降爪夹并抓取玉米，抬起爪夹，向爪夹的左边移动至盘子的正上方。\n",
+            "time": 8.83475965515464
+        },
+        {
+            "action_description": "爪夹向下移动，到玉米的正上方。",
+            "annotations": {
+                "bbox_1766556889947": {
+                    "instances": [
+                        {
+                            "height": 0.12000000000000005,
+                            "id": "bbox_1766556889947_1766557039546_rc9o2gt2c",
+                            "width": 0.10400000000000001,
+                            "x": 0.4425,
+                            "y": 0.572
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.25866666666666666,
+                            "id": "bbox_1766556890099_1766557165473_bqcvl5hvd",
+                            "width": 0.20700000000000002,
+                            "x": 0.5735,
+                            "y": 0.49733333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766557034386_id8hn53zu",
+                            "x": 0.4535,
+                            "y": 0.5866666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动至盘子的正上方，松开爪夹，使玉米落入盘子里。",
+            "error_success_analysis": "爪夹重新下降至玉米的正上方。",
+            "frame": 322,
+            "progress": 10,
+            "progress_explanation": "爪夹向下移动，位于玉米的正上方，因此进度提升至10%。",
+            "state_description": "当前爪夹，在水平距离上已经位于玉米的正上方。\n为完成把玉米放在盘子上的任务应当：下降并抓取玉米，抬起爪夹，向爪夹方向的左边移动。",
+            "time": 10.745378256185568
+        },
+        {
+            "action_description": "爪夹合拢并向爪夹的左边移动，爪夹抓取失败，并将内胆碰撞至桌子左侧。",
+            "annotations": {
+                "bbox_1766556889947": {
+                    "instances": [
+                        {
+                            "height": 0.11466666666666671,
+                            "id": "bbox_1766556889947_1766557182824_2l4ls047t",
+                            "width": 0.10600000000000001,
+                            "x": 0.2585,
+                            "y": 0.5453333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556890099": {
+                    "instances": [
+                        {
+                            "height": 0.2533333333333333,
+                            "id": "bbox_1766556890099_1766557175577_0678z6p6p",
+                            "width": 0.209,
+                            "x": 0.6295,
+                            "y": 0.48000000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556891339": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1766557185896_xrpet5577",
+                            "x": 0.6214999999999999,
+                            "y": 0.464
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556891563": {
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1766557189088_cfp1jz48k",
+                            "x": 0.6485000000000001,
+                            "y": 0.45066666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达玉米的正上方，下降并抓取玉米，抬起爪夹，向爪夹方向的左方移动，到盘子的正上方，松开爪夹，使玉米落入盘子中。",
+            "error_success_analysis": "爪夹没有抓住玉米，并远离了玉米。",
+            "frame": 380,
+            "progress": 5,
+            "progress_explanation": "当前爪夹下降抓取失败，并向爪夹的左边移动，远离玉米，因此进度下降至5%。",
+            "state_description": "当前爪夹抓取失败。\n为完成把玉米放在盘子上的任务应当：重新调整角度，靠近玉米，到达玉米的正上方，下降并抓取。",
+            "time": 12.67080785412371
+        },
+        {
+            "time": 14.366667,
+            "frame": 431,
+            "progress": 0,
+            "action_description": "爪夹张开，并向爪夹的右后方移动。",
+            "state_description": "当前爪夹张开，位于起点的位置。\n为完成把玉米放在盘子上的任务应当：爪夹向爪夹的右前方移动，靠近玉米，爪夹移动到玉米的正上方，并向爪夹的下方移动，合拢爪夹抓取玉米。",
+            "progress_explanation": "当前爪夹回到原位，因此进度下降至0%。",
+            "error_success_analysis": "爪夹张开，并向爪夹的右后方移动，回到原位。",
+            "correction_plan": "爪夹向爪夹的右前方移动，靠近玉米，爪夹移动到玉米的正上方，并向爪夹的下方移动，合拢爪夹抓取玉米，爪夹保持合拢并向爪夹的上方抬起，随后向爪夹的左边移动，靠近盘子，爪夹移动到盘子的正上方，爪夹松开，使玉米落入盘子中。",
+            "annotations": {
+                "point_1766556891563": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766556891563_1768442356142_22i2dv0km",
+                            "x": 0.5725,
+                            "y": 0.3706666666666667
+                        }
+                    ]
+                },
+                "point_1766556891339": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766556891339_1768442358421_p4gw6ud56",
+                            "x": 0.4755,
+                            "y": 0.388
+                        }
+                    ]
+                },
+                "bbox_1766556890099": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766556890099_1768442361773_37xmzxnpz",
+                            "x": 0.6255,
+                            "y": 0.47733333333333333,
+                            "width": 0.21700000000000008,
+                            "height": 0.2586666666666667
+                        }
+                    ]
+                },
+                "bbox_1766556889947": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766556889947_1768442364941_nrai7pqv9",
+                            "x": 0.3055,
+                            "y": 0.4906666666666667,
+                            "width": 0.11599999999999996,
+                            "height": 0.14000000000000004
+                        }
+                    ]
+                }
+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766556889947",
+            "name": "玉米"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766556890099",
+            "name": "盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766556891339",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766556891563",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184546-good-corn-bowl/annotations/chunk-000/observation.images.front/episode_000007.json

@@ -0,0 +1,392 @@
+{
+    "task_description": "把玉米放进碗里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹保持合拢并移动到碗的上方：80%\n爪夹松开，使玉米落入碗里：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。\n",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.11600000000000002,
+                            "id": "bbox_1766557355159_1766558303167_pmxew6adu",
+                            "width": 0.16299999999999998,
+                            "x": 0.7085,
+                            "y": 0.728
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.22666666666666663,
+                            "id": "bbox_1766557355567_1766558309119_3ngocuw67",
+                            "width": 0.192,
+                            "x": 0.40049999999999997,
+                            "y": 0.44000000000000006
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558313518_1xait9u5t",
+                            "x": 0.4535,
+                            "y": 0.36933333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766557356375": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356375_1766558316318_u3qy3iqni",
+                            "x": 0.5525,
+                            "y": 0.36000000000000004
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，向爪夹的左前方移动，到玉米的正上方，下降并抓取玉米，爪夹垂直上升，向爪夹方向的右后方移动，到碗的正上方，松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "",
+            "frame": 41,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触玉米。\n为完成把玉米放进碗里的任务应当：调整爪夹角度，向爪夹的左前方移动，到玉米的正上方。",
+            "time": 1.3694844943298967
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其在水平方向上接近玉米。\n",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.11733333333333332,
+                            "id": "bbox_1766557355159_1766558337766_y3bt5s4xj",
+                            "width": 0.162,
+                            "x": 0.7075,
+                            "y": 0.7253333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.2333333333333334,
+                            "id": "bbox_1766557355567_1766558332063_hwsjsdn2g",
+                            "width": 0.192,
+                            "x": 0.40049999999999997,
+                            "y": 0.436
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558326462_8tb7s2ck1",
+                            "x": 0.46349999999999997,
+                            "y": 0.46266666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766557356375": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356375_1766558320623_4lmcw0b2z",
+                            "x": 0.5885,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至玉米的正上方，下降并抓取玉米，爪夹垂直上升，向爪夹方向的右后方移动，到碗的正上方，松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近玉米。\n",
+            "frame": 94,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%。\n",
+            "state_description": "当前爪夹张开，在水平距离上接近玉米。\n为完成把玉米放进碗里的任务应当：移动至玉米的正上方，下降并抓取玉米。",
+            "time": 3.1391064335051544
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，移动至玉米的正上方。\n",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.12000000000000005,
+                            "id": "bbox_1766557355159_1766558343014_sl1wg87f1",
+                            "width": 0.16399999999999998,
+                            "x": 0.7065,
+                            "y": 0.7226666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.2346666666666667,
+                            "id": "bbox_1766557355567_1766558354022_06arc8mvb",
+                            "width": 0.192,
+                            "x": 0.3995,
+                            "y": 0.4346666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558346022_4flsj2q6i",
+                            "x": 0.7505,
+                            "y": 0.8133333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766557356375": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356375_1766558348334_ps45qawgc",
+                            "x": 0.8215,
+                            "y": 0.748
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降并抓取玉米，爪夹垂直上升，向爪夹方向的右后方移动，到碗的正上方，松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近玉米，到达玉米的正上方，准备抓取。\n",
+            "frame": 132,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已成功移动至玉米的正上方，因此进度为20%。\n",
+            "state_description": "当前爪夹张开，到达玉米的正上方。\n为完成把玉米放进碗里的任务应当：下降爪夹并抓取玉米，爪夹垂直上升，向爪夹方向的右后方移动.",
+            "time": 4.406133
+        },
+        {
+            "action_description": "爪夹下降，合拢爪夹并抓取玉米。\n",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.1693333333333334,
+                            "id": "bbox_1766557355159_1766558370390_5x0qn3e27",
+                            "width": 0.14100000000000001,
+                            "x": 0.7195,
+                            "y": 0.712
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.23066666666666666,
+                            "id": "bbox_1766557355567_1766558360990_h6ax5fwza",
+                            "width": 0.19300000000000006,
+                            "x": 0.40149999999999997,
+                            "y": 0.44133333333333336
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558372678_s9wxu21de",
+                            "x": 0.7575000000000001,
+                            "y": 0.8226666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直上升，向爪夹方向的右后方移动，到碗的正上方，松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取玉米。\n",
+            "frame": 177,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取玉米，因此进度提升为40%。\n",
+            "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玉米。\n为完成把玉米放进碗里的任务应当：爪夹垂直上升，向爪夹方向的右后方移动，到碗的正上方。",
+            "time": 5.893066
+        },
+        {
+            "action_description": "爪夹上升，抓住玉米向爪夹方向的右后方移动。\n",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.16799999999999998,
+                            "id": "bbox_1766557355159_1766558380294_tcicyvpna",
+                            "width": 0.172,
+                            "x": 0.7315,
+                            "y": 0.6053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.23066666666666671,
+                            "id": "bbox_1766557355567_1766558387142_0bawbggwv",
+                            "width": 0.191,
+                            "x": 0.40049999999999997,
+                            "y": 0.44
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558375438_5t65b4cre",
+                            "x": 0.7845,
+                            "y": 0.7053333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右后方移动，到碗的正上方，松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "爪夹成功抓取玉米，并在向着碗的方向靠近。\n",
+            "frame": 216,
+            "progress": 60,
+            "progress_explanation": "当前爪夹成功抓住玉米，并在水平方向上接近碗，因此进度为60%。",
+            "state_description": "当前爪夹合拢，抓住玉米，垂直于桌面。\n为完成把玉米放进碗里的任务应当：爪夹向爪夹方向的右后方移动，到碗的正上方。",
+            "time": 7.205066
+        },
+        {
+            "action_description": "爪夹保持合拢，向爪夹方向的右后方移动至碗的正上方。",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.15733333333333335,
+                            "id": "bbox_1766557355159_1766558402318_8ygg5t5jw",
+                            "width": 0.10200000000000005,
+                            "x": 0.4875,
+                            "y": 0.48133333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.22800000000000006,
+                            "id": "bbox_1766557355567_1766558395558_0gaarpiwc",
+                            "width": 0.195,
+                            "x": 0.3995,
+                            "y": 0.44133333333333336
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558398582_5sk2aa4qs",
+                            "x": 0.5045,
+                            "y": 0.5693333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使玉米落入碗里。",
+            "error_success_analysis": "爪夹已经抓取到黄瓜，并垂直于碗的上方。\n",
+            "frame": 255,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已抓住玉米并移动至碗的正上方，因此进度为80%。\n",
+            "state_description": "当前爪夹合找，垂直于碗的正上方。\n为完成把玉米放进碗里的任务应当：松开爪夹，使玉米落入碗里。",
+            "time": 8.506133
+        },
+        {
+            "action_description": "爪夹松开，玉米落下。",
+            "annotations": {
+                "bbox_1766557355159": {
+                    "instances": [
+                        {
+                            "height": 0.16533333333333336,
+                            "id": "bbox_1766557355159_1766558407830_igaxcjdgb",
+                            "width": 0.08899999999999997,
+                            "x": 0.4625,
+                            "y": 0.49466666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766557355567": {
+                    "instances": [
+                        {
+                            "height": 0.23733333333333337,
+                            "id": "bbox_1766557355567_1766558418598_ff15bpryz",
+                            "width": 0.191,
+                            "x": 0.3995,
+                            "y": 0.444
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766557356215": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356215_1766558410062_46nmqt9pd",
+                            "x": 0.4715,
+                            "y": 0.5506666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766557356375": {
+                    "instances": [
+                        {
+                            "id": "point_1766557356375_1766558412366_etqpdn5du",
+                            "x": 0.5395000000000001,
+                            "y": 0.536
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹成功将玉米放进碗里。",
+            "frame": 299,
+            "progress": 100,
+            "progress_explanation": "当玉米已经成功落入碗里。因此进度提升至100%。",
+            "state_description": "当前爪夹松开，玉米落入碗里。已完成把玉米放进碗里的任务。",
+            "time": 9.971199
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766557355159",
+            "name": "玉米"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766557355567",
+            "name": "碗"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766557356215",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766557356375",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-184830-good-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000012.json

@@ -0,0 +1,372 @@
+{
+    "task_description": "把面包片放进菱形盘子里。\n开始移动：0%\n爪夹靠近面包片：20%\n爪夹抓取面包片：40%\n爪夹抓住面包片并接近菱形盘子：60%\n爪夹保持合拢并移动到菱形盘子的上方：80%\n爪夹松开，使面包片落入菱形盘子里：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。\n",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.1853333333333333,
+                            "id": "bbox_1766560074783_1766561490995_0l6vz5rv1",
+                            "width": 0.137,
+                            "x": 0.5575,
+                            "y": 0.4706666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.2733333333333334,
+                            "id": "bbox_1766560075391_1766561496723_ixcycldfq",
+                            "width": 0.23700000000000002,
+                            "x": 0.2585,
+                            "y": 0.452
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561498851_71tjcrjmj",
+                            "x": 0.40549999999999997,
+                            "y": 0.39333333333333337
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766560076759": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076759_1766561501395_5xxd0ywzo",
+                            "x": 0.5085,
+                            "y": 0.38
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，到达面包片的正上方，下降爪夹并抓取面包片，抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪夹，使面包片落入盘子中。",
+            "error_success_analysis": "",
+            "frame": 65,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触面包片。\n为完成把面包片放进菱形盘子里的任务应当：爪夹向爪夹方向的左前方移动，到达面包片的正上方。",
+            "time": 2.153865979381443
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方微调角度，在水平方向上接近面包片。\n",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.18533333333333335,
+                            "id": "bbox_1766560074783_1766561521827_cxhmx918c",
+                            "width": 0.142,
+                            "x": 0.5525,
+                            "y": 0.4693333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.27733333333333327,
+                            "id": "bbox_1766560075391_1766561517219_yhweb06ny",
+                            "width": 0.23500000000000004,
+                            "x": 0.2585,
+                            "y": 0.44666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561525003_i0y9tt2si",
+                            "x": 0.3965,
+                            "y": 0.412
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766560076759": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076759_1766561529435_nsysji0vs",
+                            "x": 0.5235000000000001,
+                            "y": 0.39866666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动到面包片的正上方，下降爪夹并抓取面包片，抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪���，使面包片落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近面包片。\n",
+            "frame": 113,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上略微接近面包片并开始调整爪夹角度方便抓取，因此进度为15%。\n",
+            "state_description": "当前爪夹张开，在水平距离上接近面包片。\n为完成把面包片放进菱形盘子里的任务应当：爪夹移动至面包片的正上方，下降并抓取面包片。",
+            "time": 3.7780927835051545
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，移动至面包片的正上方。\n",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.1839999999999999,
+                            "id": "bbox_1766560074783_1766561555571_98nmmexct",
+                            "width": 0.15099999999999997,
+                            "x": 0.5485,
+                            "y": 0.4733333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.27599999999999997,
+                            "id": "bbox_1766560075391_1766561548098_66vvlol6w",
+                            "width": 0.23800000000000004,
+                            "x": 0.2595,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561550658_pib7rcj9f",
+                            "x": 0.5865,
+                            "y": 0.5346666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降爪夹并抓取面包片，抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪夹，使面包片落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近面包片，到达面包片的正上方，准备抓取。\n",
+            "frame": 173,
+            "progress": 30,
+            "progress_explanation": "当前爪夹已成功移动至面包片的正上方，因此进度为30%。\n",
+            "state_description": "当前爪夹张开，到达面包片的正上方。\n为完成把面包片放进菱形盘子里的任务应当：下降并抓取面包片，抬起爪夹，向爪夹的右边移动。",
+            "time": 5.7814
+        },
+        {
+            "action_description": "爪夹下降，合拢爪夹并抓取面包片。\n",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.21066666666666672,
+                            "id": "bbox_1766560074783_1766561560795_370hw8zy1",
+                            "width": 0.15300000000000002,
+                            "x": 0.5345000000000001,
+                            "y": 0.49733333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.2733333333333333,
+                            "id": "bbox_1766560075391_1766561577090_gq039omnk",
+                            "width": 0.24400000000000005,
+                            "x": 0.2545,
+                            "y": 0.45066666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561571954_wev7dpqwo",
+                            "x": 0.5965,
+                            "y": 0.536
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抬起爪夹，向爪夹的右边移动至盘子的正上方，松开爪夹，使面包片落入盘子中。",
+            "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取面包片。\n",
+            "frame": 246,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取面包片，因此进度提升为40%。\n",
+            "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到面包片。\n为完成把面包片放进菱形盘子里的任务应当：抬��爪夹，向爪夹的右边移动至盘子的正上方。",
+            "time": 8.184690721649483
+        },
+        {
+            "action_description": "爪夹上升，抓住面包片向爪夹方向的右边移动。\n",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.23866666666666672,
+                            "id": "bbox_1766560074783_1766561592874_1iriccovk",
+                            "width": 0.19399999999999995,
+                            "x": 0.4605,
+                            "y": 0.436
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.27599999999999997,
+                            "id": "bbox_1766560075391_1766561588035_1jdo2jleu",
+                            "width": 0.244,
+                            "x": 0.2525,
+                            "y": 0.448
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561596730_k73ucepz6",
+                            "x": 0.5575,
+                            "y": 0.47866666666666663
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至盘子的正上方，松开爪夹，使面包片落入盘子中。",
+            "error_success_analysis": "爪夹成功抓取面包片，并在向着盘子的方向靠近。\n",
+            "frame": 273,
+            "progress": 60,
+            "progress_explanation": "当前爪夹成功抓住面包片，并在水平方向上接近盘子，因此进度为60%。\n",
+            "state_description": "当前爪夹合拢，抓住面包片，垂直于桌面。\n为完成把面包片放进菱形盘子里的任务应当：爪夹移动至盘子的正上方，松开爪夹，使面包片落入盘子中。",
+            "time": 9.0968
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧面包片向爪夹方向的右边移动。",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.20266666666666666,
+                            "id": "bbox_1766560074783_1766561606706_8i091kjmu",
+                            "width": 0.14000000000000004,
+                            "x": 0.25149999999999995,
+                            "y": 0.44666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.27066666666666667,
+                            "id": "bbox_1766560075391_1766561622058_1pfvvlr69",
+                            "width": 0.22800000000000006,
+                            "x": 0.26949999999999996,
+                            "y": 0.4533333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561609666_ecjlm4qsu",
+                            "x": 0.35350000000000004,
+                            "y": 0.4826666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使面包片落入盘子中。",
+            "error_success_analysis": "爪夹成功移动到盘子的正上方。",
+            "frame": 309,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已抓住面包片并移动至盘子的正上方，因此进度为80%。\n",
+            "state_description": "当前爪夹合找，垂直于盘子的正上方。\n为完成把面包片放进菱形盘子里的任务应当：松开爪夹，使面包片落入盘子中。",
+            "time": 10.302399
+        },
+        {
+            "action_description": "爪夹松开，面包片下落。",
+            "annotations": {
+                "bbox_1766560074783": {
+                    "instances": [
+                        {
+                            "height": 0.17866666666666664,
+                            "id": "bbox_1766560074783_1766561636546_mkos46hb5",
+                            "width": 0.154,
+                            "x": 0.2455,
+                            "y": 0.4826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766560075391": {
+                    "instances": [
+                        {
+                            "height": 0.2853333333333333,
+                            "id": "bbox_1766560075391_1766561626906_pdco1nn6j",
+                            "width": 0.24499999999999997,
+                            "x": 0.2515,
+                            "y": 0.44000000000000006
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766560076480": {
+                    "instances": [
+                        {
+                            "id": "point_1766560076480_1766561629746_z714pgshp",
+                            "x": 0.3085,
+                            "y": 0.52
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "面包片成功落入盘子中。",
+            "frame": 368,
+            "progress": 100,
+            "progress_explanation": "当前面包片已经落入盘子中，因此进度提升至100%。",
+            "state_description": "当前面包片落入盘子中，已经完成把面包片放进菱形盘子里的任务。",
+            "time": 12.2615
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766560074783",
+            "name": "面包片"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766560075391",
+            "name": "菱形盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766560076480",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766560076759",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-171526-good-yellow cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000004.json

@@ -0,0 +1,436 @@
+{
+    "task_description": "把黄色立方体形状的积木块放入对应的孔中。\n爪夹靠近黄色立方体：20%\n爪夹抓取黄色立方体：40%\n爪夹抓住黄色立方体并接近玩具箱：60%\n爪夹保持合拢并移动到玩具箱的上方：80%\n爪夹松开，使黄色立方体落入对应的孔中：100%\n",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，准备移动。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.06666666666666667,
+                            "id": "bbox_1766629097781_1766630423436_jdv5oihqo",
+                            "width": 0.041999999999999996,
+                            "x": 0.5965,
+                            "y": 0.5826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.3453333333333333,
+                            "id": "bbox_1766629098653_1766630427660_twwpjtisq",
+                            "width": 0.24700000000000003,
+                            "x": 0.2105,
+                            "y": 0.3893333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630429996_au51ahn4r",
+                            "x": 0.4525,
+                            "y": 0.37333333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766629099653": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099653_1766630432636_69odtjfwx",
+                            "x": 0.5455,
+                            "y": 0.38266666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹的左前方移动，到达黄色立方体的正上方，下降并抓取，抬起爪夹，向爪夹的右边移动至玩具箱的正上方，松开爪夹，将黄色立方体放入对应的孔中。",
+            "error_success_analysis": "",
+            "frame": 52,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n",
+            "state_description": "当前状态为爪夹打开，没有移动，没有接触黄色立方体。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：向爪夹的左前方移动，到达黄色立方体的正上方。",
+            "time": 1.7493814432989692
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方微调，并在水平方向上接近黄色立方体。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.06533333333333324,
+                            "id": "bbox_1766629097781_1766630447812_7klhxm1je",
+                            "width": 0.046,
+                            "x": 0.5925,
+                            "y": 0.5853333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.36133333333333334,
+                            "id": "bbox_1766629098653_1766630444011_rtojbdgms",
+                            "width": 0.25599999999999995,
+                            "x": 0.20350000000000001,
+                            "y": 0.37733333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630438420_nypzq3qjm",
+                            "x": 0.47350000000000003,
+                            "y": 0.4053333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766629099653": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099653_1766630435836_sgmcg9444",
+                            "x": 0.5775,
+                            "y": 0.3973333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹方向直��垂直于桌面，继续移动到黄色立方体的正上方，下降并抓取，抬起爪夹，向爪夹的右边移动至玩具箱的正上方，松开爪夹，将黄色立方体放入对应的孔中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近黄色立方体。\n",
+            "frame": 85,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上接近黄色立方体并开始调整爪夹角度方便抓取，因此进度为10%。\n",
+            "state_description": "当前爪夹张开，在水平距离上接近黄色立方体。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黄色立方体正上方。",
+            "time": 2.832680412371134
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.06400000000000006,
+                            "id": "bbox_1766629097781_1766630460347_p76easora",
+                            "width": 0.046,
+                            "x": 0.5935,
+                            "y": 0.584
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.34933333333333333,
+                            "id": "bbox_1766629098653_1766630464395_iv6nl1dhs",
+                            "width": 0.251,
+                            "x": 0.20650000000000004,
+                            "y": 0.3853333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630467171_1wafv5q1m",
+                            "x": 0.4885,
+                            "y": 0.52
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766629099653": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099653_1766630469467_eagizhvvh",
+                            "x": 0.5925,
+                            "y": 0.5
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹的左前方移动到黄色立方体的正上方，下降并抓取，抬起爪夹，向爪夹的右边移动至玩具箱的正上方，松开爪夹，将黄色立方体放入对应的孔中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近黄色立方体，并使爪夹角度向垂直于桌面，方便抓取。\t\t\t",
+            "frame": 105,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上进一步接近黄色立方体并调整完爪夹角度方便抓取，因此进度提升为15%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，与黄色立方体的水平距离进一步缩短。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：爪夹向爪夹的左前方移动，爪夹移动到黄色立方体的正上方。",
+            "time": 3.491443298969072
+        },
+        {
+            "action_description": "爪夹向爪夹的左前方移动，移动至黄色立方体的正上方。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.06533333333333324,
+                            "id": "bbox_1766629097781_1766630480635_ukcljuwqs",
+                            "width": 0.04299999999999997,
+                            "x": 0.5945,
+                            "y": 0.5866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.35866666666666674,
+                            "id": "bbox_1766629098653_1766630490899_fhw9fnqtb",
+                            "width": 0.24600000000000005,
+                            "x": 0.2105,
+                            "y": 0.37733333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630483603_wws5hwi49",
+                            "x": 0.6015,
+                            "y": 0.6173333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766629099653": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099653_1766630485995_71q62wqwy",
+                            "x": 0.6755,
+                            "y": 0.5666666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降并抓取，抬起爪夹，向爪夹的右边移动至玩具箱的正上方，松开爪夹，将黄色立方体放入对应的孔中。",
+            "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近黄色立方体，到达黄色立方体的正上方，准备抓取。\n",
+            "frame": 126,
+            "progress": 30,
+            "progress_explanation": "当前爪夹已成功移动至黄色立方体的正上方，因此进度为30%。\n",
+            "state_description": "当前爪夹张开，到达黄色立方体的正上方。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：下降并抓取，抬起爪夹，向爪夹的右边移动至玩具箱的正上方。",
+            "time": 4.2032
+        },
+        {
+            "action_description": "爪夹下降，合拢爪夹并抓取黄色立方体。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.06799999999999998,
+                            "id": "bbox_1766629097781_1766630502947_3213yk6l9",
+                            "width": 0.046,
+                            "x": 0.6115,
+                            "y": 0.5760000000000001
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.3493333333333333,
+                            "id": "bbox_1766629098653_1766630496067_dv3qsxd1a",
+                            "width": 0.248,
+                            "x": 0.20950000000000002,
+                            "y": 0.39066666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630499323_wr6ff0lyk",
+                            "x": 0.6195,
+                            "y": 0.6293333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抬起爪夹，向爪夹的右边移动至玩具箱的正上方，松开爪夹，将黄色立方体放入对应的孔中。",
+            "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取黄色立方体。\n",
+            "frame": 170,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取黄色立方体，因此进度提升为40%。\n",
+            "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到黄色立方体。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：抬起爪夹，向爪夹的右边移动至玩具箱的正上方。",
+            "time": 5.68
+        },
+        {
+            "action_description": "爪夹上升，抓住黄色立方体向爪夹方向的右侧移动。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.08000000000000002,
+                            "id": "bbox_1766629097781_1766630508059_f6xhkrsli",
+                            "width": 0.05700000000000003,
+                            "x": 0.5215,
+                            "y": 0.43866666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.356,
+                            "id": "bbox_1766629098653_1766630514739_ttinpg6uj",
+                            "width": 0.255,
+                            "x": 0.20349999999999996,
+                            "y": 0.38266666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630510467_613j04fcn",
+                            "x": 0.5265,
+                            "y": 0.49466666666666664
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "移动至玩具箱的正上方，松开爪夹，使黄色立方体落入对应的孔中。",
+            "error_success_analysis": "爪夹成功抓取黄色立方体，并在向着玩具箱的方向靠近。\n",
+            "frame": 221,
+            "progress": 60,
+            "progress_explanation": "当前爪夹成功抓住黄色立方体，并在水平方向上靠近玩具箱，因此进度为60%。\n",
+            "state_description": "当前爪夹合拢，抓住黄色立方体，垂直于桌面。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：移动至玩具箱的正上方，松开爪夹，使黄色立方体落入对应的孔中。",
+            "time": 7.3708247422680415
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧黄色立方体形状的积木块向爪夹方向的右侧移动。\n",
+            "annotations": {
+                "bbox_1766629097781": {
+                    "instances": [
+                        {
+                            "height": 0.07466666666666667,
+                            "id": "bbox_1766629097781_1766630533730_95b61kekw",
+                            "width": 0.048999999999999974,
+                            "x": 0.3075,
+                            "y": 0.5053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.3546666666666667,
+                            "id": "bbox_1766629098653_1766630526874_fqeiuabir",
+                            "width": 0.24699999999999997,
+                            "x": 0.2085,
+                            "y": 0.388
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630529018_9ykgq6voa",
+                            "x": 0.3125,
+                            "y": 0.5546666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使黄色立方体落入对应的孔中。",
+            "error_success_analysis": "爪夹已经抓取到黄色立方体，并移动到了玩具箱的正上方。\n",
+            "frame": 278,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已抓住黄色立方体并移动至玩具箱的正上方，因此进度为80%。\n",
+            "state_description": "当前爪夹合找，垂直于桌面，抓住黄色立方体处于玩具箱的正上方。\n为完成把黄色立方体形状的积木块放入对应的孔中的任务应当：松开爪夹，使黄色立方体落入对应的孔中。",
+            "time": 9.2726
+        },
+        {
+            "action_description": "爪夹张开，黄色立方体落下。\n",
+            "annotations": {
+                "bbox_1766629098653": {
+                    "instances": [
+                        {
+                            "height": 0.364,
+                            "id": "bbox_1766629098653_1766630544530_j98n8nye3",
+                            "width": 0.248,
+                            "x": 0.2105,
+                            "y": 0.36800000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766629099454": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099454_1766630546906_dvbcead3k",
+                            "x": 0.3135,
+                            "y": 0.5453333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766629099653": {
+                    "instances": [
+                        {
+                            "id": "point_1766629099653_1766630549610_e2wkguugt",
+                            "x": 0.3705,
+                            "y": 0.544
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹松开，黄色立方体落入对应的孔中。\n",
+            "frame": 388,
+            "progress": 100,
+            "progress_explanation": "黄色立方体成功落入对应的孔中，因此进度提升至100%。",
+            "state_description": "当前爪夹张开，黄���立方体落入盘子里。已完成把黄色立方体形状的积木块放入对应的孔中的任务。\n",
+            "time": 12.919072164948451
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766629097781",
+            "name": "黄色立方体"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766629098653",
+            "name": "玩具箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766629099454",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766629099653",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-175359-mix-bread- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000007.json

@@ -0,0 +1,734 @@
+{
+    "task_description": "抓取生菜放入盘子里：\n准备开始移动：0%\n爪夹靠近生菜：20%\n爪夹抓取生菜：40%\n爪夹抓紧生菜接近盘子：60%\n爪夹将生菜放入盘子：80%\n爪夹松开生菜使其落入盘子：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.1960000000000001,
+                            "id": "bbox_1766048455331_1766048487389_w7m23ash8",
+                            "width": 0.142,
+                            "x": 0.3115,
+                            "y": 0.37866666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.3093333333333333,
+                            "id": "bbox_1766048461475_1766048498643_m842nyhh9",
+                            "width": 0.24400000000000013,
+                            "x": 0.5414999999999999,
+                            "y": 0.5053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048509075_zttantv8o",
+                            "x": 0.4295,
+                            "y": 0.384
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766048473047": {
+                    "instances": [
+                        {
+                            "id": "point_1766048473047_1766048514249_wfjc4krcm",
+                            "x": 0.5325,
+                            "y": 0.34933333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右前方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。落下爪夹靠近生菜，爪夹合拢抓取生菜。抓紧生菜后垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "",
+            "frame": 50,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，远离生菜，未开始移动。进度0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离生菜，未开始移动。\n为完成将生菜落入盘子的任务目标应当：爪夹向爪夹右方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。",
+            "time": 1.6832989690721647
+        },
+        {
+            "action_description": "爪夹向上垂直移动并向爪夹正前方移动。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.20133333333333336,
+                            "id": "bbox_1766048455331_1766048534966_i8qywtn8p",
+                            "width": 0.142,
+                            "x": 0.31050000000000005,
+                            "y": 0.37466666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.3053333333333334,
+                            "id": "bbox_1766048461475_1766048548497_z64glsy7s",
+                            "width": 0.24400000000000005,
+                            "x": 0.5405,
+                            "y": 0.508
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048525215_0xe1txq4g",
+                            "x": 0.4085,
+                            "y": 0.37466666666666665
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766048473047": {
+                    "instances": [
+                        {
+                            "id": "point_1766048473047_1766048528305_3pnxdklut",
+                            "x": 0.5255,
+                            "y": 0.34933333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。落下爪夹靠近生菜，爪夹合拢抓取生菜。抓紧生菜后垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹向爪夹正前方移动，缩短了与生菜之间的距离，方便抓取生菜。",
+            "frame": 89,
+            "progress": 10,
+            "progress_explanation": "爪夹向上垂直移动并向爪夹正前方移动。水平上接近了生菜。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近水平，爪夹水平上接近了生菜。\n为完成将生菜落入盘子的任务目标应当：爪夹向爪夹右方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。",
+            "time": 2.966666666666667
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，并向下垂直移动。且调整爪夹的角度",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.20266666666666655,
+                            "id": "bbox_1766048455331_1766048596345_qr5t193yi",
+                            "width": 0.15099999999999994,
+                            "x": 0.31250000000000006,
+                            "y": 0.37066666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.31199999999999994,
+                            "id": "bbox_1766048461475_1766048614435_lic8vu7pi",
+                            "width": 0.24499999999999994,
+                            "x": 0.5385000000000001,
+                            "y": 0.5053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048624807_edwilz5ol",
+                            "x": 0.40650000000000003,
+                            "y": 0.6
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右方的生菜移动，移动到生菜的正上方，靠近生菜，准备抓取生菜。爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹向爪夹正前方移动，爪夹的角度垂直于桌面。水平上和垂直上都接近了生菜，方便抓取生菜。",
+            "frame": 128,
+            "progress": 15,
+            "progress_explanation": "爪夹张开，爪夹移动到爪夹正前方接近垂直于桌面。水平上和垂直上都接近了生菜，因此进度提升为15%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹处于生菜边缘。\n为完成将生菜落入盘子的任务目标应当：爪夹向爪夹右方的生菜移动，移动到生菜的正上方，靠近生菜，准备抓取生菜。",
+            "time": 4.256494845360825
+        },
+        {
+            "action_description": "爪夹合拢，向爪夹的左方移动，并抬高爪夹。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.19600000000000004,
+                            "id": "bbox_1766048455331_1766048648767_zlv60a0ah",
+                            "width": 0.14299999999999996,
+                            "x": 0.3085,
+                            "y": 0.3786666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.304,
+                            "id": "bbox_1766048461475_1766048660911_w7g5kcehd",
+                            "width": 0.24499999999999994,
+                            "x": 0.5395000000000001,
+                            "y": 0.5066666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048636417_sq5u3qqvu",
+                            "x": 0.6935,
+                            "y": 0.2653333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开向爪夹右方的生菜移动，调整爪夹的角度，使其垂直于桌面，移动到生菜的正上方，靠近生菜，准备抓取生菜。爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹合拢，爪夹与桌面接近平行，水平上远离了生菜并进行了空抓。",
+            "frame": 175,
+            "progress": -10,
+            "progress_explanation": "爪夹合拢状态，移动到了爪夹的左方，并抬高爪夹。水平上远离了生菜比初始状态时多出一步张开爪夹。因此进度降低为-10%",
+            "state_description": "爪夹合拢状态，爪夹与桌面接近平行，水平上远离了生菜。\n为完成将生菜落入盘子的任务目标应当：爪夹张开向爪夹右方的生菜移动，移动到生菜的正上方，靠近生菜，准备抓取生菜。",
+            "time": 5.833333333333333
+        },
+        {
+            "action_description": "爪夹张开，向爪夹右方移动并降低爪夹高度。调整爪夹的角度使其接近垂直于桌面。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.19866666666666674,
+                            "id": "bbox_1766048455331_1766048690150_x64gebpel",
+                            "width": 0.14699999999999996,
+                            "x": 0.3075,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.3053333333333333,
+                            "id": "bbox_1766048461475_1766048701181_cdjb35fwy",
+                            "width": 0.24700000000000005,
+                            "x": 0.5385,
+                            "y": 0.5053333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048684259_mhnesmawg",
+                            "x": 0.5025000000000001,
+                            "y": 0.44666666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开向爪夹右方的生菜移动，调整爪夹的角度，使其垂直于桌面，移动到生菜的正上方，靠近生菜，准备抓取生菜。爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹张开，移动到爪夹右方并降低爪夹高度。爪夹角度接近垂直于桌面，接触了错误目标。",
+            "frame": 215,
+            "progress": -20,
+            "progress_explanation": "爪夹张开，移动到爪夹右方并降低爪夹高度。接触到错误目标，比上一阶段多了一步垂直升高，因此进度提升为-20%。",
+            "state_description": "爪夹张开，爪夹触碰错误目标辣椒。爪夹角度接近垂直于桌面。\n为完成将生菜落入盘子的任务目标应当：爪夹向爪夹右方的生菜移动，移动到生菜的正上方，靠近生菜，准备抓取生菜。",
+            "time": 7.1513402061855675
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，抬高爪夹高度并合拢爪夹。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766048455331_1766048719603_0pf9es4c9",
+                            "x": 0.3105,
+                            "y": 0.376,
+                            "width": 0.144,
+                            "height": 0.20133333333333336
+                        }
+                    ]
+                },
+                "bbox_1766048461475": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766048461475_1766048729723_wn3z0kd5n",
+                            "x": 0.5395000000000001,
+                            "y": 0.504,
+                            "width": 0.24399999999999994,
+                            "height": 0.30533333333333335
+                        }
+                    ]
+                },
+                "point_1766048467719": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048713219_akkral1vx",
+                            "x": 0.41450000000000004,
+                            "y": 0.58
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+                    ]
+                },
+                "point_1766048473047": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766048473047_1766048715265_g7arweors",
+                            "x": 0.4825000000000001,
+                            "y": 0.5573333333333333
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "张开爪夹向爪夹右后方的生菜移动，并调整角度使其接近垂直于桌面，移动到生菜的正上方，靠近生菜，准备抓取生菜。爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹水平上未接近生菜，在空中空抓。爪夹张开，与初始状态一样。",
+            "frame": 254,
+            "progress": 0,
+            "progress_explanation": "爪夹向爪夹正前方移动，抬高爪夹高度并合拢爪夹，角度接近垂直于桌面。水平上未接近生菜，因此进度0%。",
+            "state_description": "爪夹把辣椒推到一边，合拢爪夹。角度接近垂直于桌面。位于生菜正前方。\n为完成将生菜落入盘子的任务目标应当：爪夹张开向爪夹右后方的生菜移动，并调整角度使其接近垂直于桌面，移动到生菜的正上方，靠近生菜，准备抓取生菜。",
+            "time": 8.45938144329897
+        },
+        {
+            "action_description": "爪夹张开，向爪夹的右后方的生菜移动，调整爪夹的角度使其接近垂直于桌面。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
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+                            "height": 0.18533333333333335,
+                            "id": "bbox_1766048455331_1766048752625_2puytmshf",
+                            "width": 0.13599999999999998,
+                            "x": 0.3105,
+                            "y": 0.39066666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766048461475_1766048758597_dwopy76jy",
+                            "width": 0.24399999999999994,
+                            "x": 0.5405,
+                            "y": 0.5026666666666667
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+                "point_1766048467719": {
+                    "instances": [
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+                            "x": 0.3585,
+                            "y": 0.5013333333333334
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取生菜，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹的角度接近垂直于桌面，靠近了生菜，方便抓取生菜。",
+            "frame": 283,
+            "progress": 20,
+            "progress_explanation": "爪夹爪夹在生菜的正上方，靠近了生菜，方便抓取生菜。因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹的角度接近垂直于桌面，爪夹位于生菜的正上方。\n为完成将生菜落入盘子的任务目标应当：准备抓取生菜，爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。",
+            "time": 9.445773195876288
+        },
+        {
+            "action_description": "爪夹合拢并垂直向下移动。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.19466666666666665,
+                            "id": "bbox_1766048455331_1766048782320_lbzce3rxh",
+                            "width": 0.14499999999999996,
+                            "x": 0.30850000000000005,
+                            "y": 0.384
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.3066666666666667,
+                            "id": "bbox_1766048461475_1766048792644_t19ufl15v",
+                            "width": 0.24499999999999994,
+                            "x": 0.5395000000000001,
+                            "y": 0.5026666666666667
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048775845_zc8kz4d0t",
+                            "x": 0.4175,
+                            "y": 0.5213333333333333
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹角度垂直于桌面，爪夹合拢，抓取到了生菜。",
+            "frame": 328,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢，抓取到了生菜。因此进度提升为40%。",
+            "state_description": "爪夹角度垂直于桌面，爪夹合拢，抓取到生菜。\n为完成将生菜落入盘子的任务目标应当：抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。",
+            "time": 10.925360824742269
+        },
+        {
+            "action_description": "爪夹夹紧生菜向爪夹左前方的盘子移动，并垂直升高爪夹。爪夹张开。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.23200000000000004,
+                            "id": "bbox_1766048455331_1766048818820_er42zclk8",
+                            "width": 0.156,
+                            "x": 0.27349999999999997,
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+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
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+                            "id": "bbox_1766048461475_1766048824762_fa9m3k5rn",
+                            "width": 0.24700000000000005,
+                            "x": 0.5395,
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+                    ],
+                    "type": "bbox"
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+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048832920_cd889o6e1",
+                            "x": 0.3195,
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+                    ],
+                    "type": "point"
+                },
+                "point_1766048473047": {
+                    "instances": [
+                        {
+                            "id": "point_1766048473047_1766048836132_pd1xjqjni",
+                            "x": 0.4215,
+                            "y": 0.47600000000000003
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。靠近生菜，准备抓取生菜。爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹张开，垂直上远离了生菜。",
+            "frame": 385,
+            "progress": 10,
+            "progress_explanation": "爪夹张开，生菜落下。爪夹角度水平呈60度。远离了生菜，因此进度降低为10%.",
+            "state_description": "爪夹张开，位于生菜正上方，爪夹角度与桌面呈40度。\n为完成将生菜落入盘子的任务目标应当：爪夹向爪夹右方的生菜移动，同时调整爪夹的角度使其垂直与桌面，并移动到生菜的正上方。",
+            "time": 12.833814432989692
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动，并垂直降低爪夹高度，调整爪夹的角度使其接近垂直于桌面。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766048455331_1766048848068_ya07e6mb4",
+                            "width": 0.15100000000000002,
+                            "x": 0.2765,
+                            "y": 0.52
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+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
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+                            "width": 0.24699999999999997,
+                            "x": 0.5375,
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+                    ],
+                    "type": "bbox"
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+                "point_1766048467719": {
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+                            "x": 0.36750000000000005,
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+                    "type": "point"
+                },
+                "point_1766048473047": {
+                    "instances": [
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+                            "id": "point_1766048473047_1766048867752_whepn200x",
+                            "x": 0.42750000000000005,
+                            "y": 0.5973333333333334
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "准备抓取生菜，爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹向生菜靠近，爪夹的角度接近垂直于桌面，靠近了生菜更加方便抓取生菜。",
+            "frame": 436,
+            "progress": 20,
+            "progress_explanation": "爪夹垂直降低爪夹高度，爪夹的角度接近垂直于桌面，靠近了生菜。方便抓取生菜因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹的角度接近垂直于桌面，靠近了生菜。\n为完成将生菜落入盘子的任务目标应当：准备抓取生菜，爪夹合拢抓取生菜后，抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。",
+            "time": 14.549278350515463
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.20933333333333332,
+                            "id": "bbox_1766048455331_1766048896542_ekcvhgl8e",
+                            "width": 0.166,
+                            "x": 0.2575,
+                            "y": 0.5293333333333333
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.30133333333333334,
+                            "id": "bbox_1766048461475_1766048907196_23sdx922z",
+                            "width": 0.25200000000000006,
+                            "x": 0.5375,
+                            "y": 0.5066666666666667
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048890036_uzxswykjf",
+                            "x": 0.36350000000000005,
+                            "y": 0.6106666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。水平到达盘子的正上方后垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹合拢，抓取到了生菜。",
+            "frame": 459,
+            "progress": 40,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢，抓取到了生菜。因此进度提升为40%。",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢，抓取生菜。\n为完成将生菜落入盘子的任务目标应当：抓紧生菜垂直升高爪夹并向爪夹左前方的盘子接近。",
+            "time": 15.299793814432991
+        },
+        {
+            "action_description": "爪夹夹紧生菜向爪夹左前方的盘子移动。",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.20799999999999993,
+                            "id": "bbox_1766048455331_1766048946674_zqp5699sw",
+                            "width": 0.2039999999999999,
+                            "x": 0.5175000000000001,
+                            "y": 0.45466666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.30933333333333335,
+                            "id": "bbox_1766048461475_1766048931218_rvv0ekm4m",
+                            "width": 0.246,
+                            "x": 0.5405,
+                            "y": 0.504
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048921632_vqo2z89ib",
+                            "x": 0.6205,
+                            "y": 0.5333333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹夹紧生菜移动到了盘子正上方，靠近了盘子，方便将生菜放入盘子。",
+            "frame": 513,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧生菜向爪夹左前方的盘子移动。移动到了盘子正上方，靠近了盘子。因此进度提升为60%。",
+            "state_description": "爪夹夹紧生菜，位于盘子正上方，靠近了盘子。\n为完成将生菜落入盘子的任务目标应当：垂直落下爪夹将生菜放入盘中，松开爪夹，使生菜落入盘中。",
+            "time": 17.101030927835055
+        },
+        {
+            "action_description": "爪夹夹紧生菜垂直向下移动",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.1960000000000001,
+                            "id": "bbox_1766048455331_1766048974690_aw6h8wowm",
+                            "width": 0.19800000000000004,
+                            "x": 0.5595,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.29866666666666675,
+                            "id": "bbox_1766048461475_1766048962762_d034hs61a",
+                            "width": 0.25200000000000006,
+                            "x": 0.5395,
+                            "y": 0.5146666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048987988_b3rr14o8c",
+                            "x": 0.6575,
+                            "y": 0.6173333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使生菜落入盘中。",
+            "error_success_analysis": "爪夹垂直落下，生菜落到盘子里。方便了后续松开爪夹。",
+            "frame": 548,
+            "progress": 80,
+            "progress_explanation": "爪夹夹紧生菜垂直向下移动，将生菜落到盘子里。因此进度提升为80%。",
+            "state_description": "爪夹角度接近垂直于桌面，爪夹夹紧生菜，将生菜落到盘子里。\n为完成将生菜落入盘子的任务目标应当：松开爪夹，使生菜落入盘中。",
+            "time": 18.25896907216495
+        },
+        {
+            "action_description": "爪夹松开，垂直向上移动",
+            "annotations": {
+                "bbox_1766048455331": {
+                    "instances": [
+                        {
+                            "height": 0.20266666666666672,
+                            "id": "bbox_1766048455331_1766049010154_nvy3919kc",
+                            "width": 0.17800000000000002,
+                            "x": 0.5785,
+                            "y": 0.544
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766048461475": {
+                    "instances": [
+                        {
+                            "height": 0.30400000000000005,
+                            "id": "bbox_1766048461475_1766049019660_dw0zqxf73",
+                            "width": 0.24500000000000002,
+                            "x": 0.5405,
+                            "y": 0.5066666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766048467719": {
+                    "instances": [
+                        {
+                            "id": "point_1766048467719_1766048996814_dkr6pda74",
+                            "x": 0.6115,
+                            "y": 0.5546666666666666
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+                    ],
+                    "type": "point"
+                },
+                "point_1766048473047": {
+                    "instances": [
+                        {
+                            "id": "point_1766048473047_1766049001028_zjbr6xlx2",
+                            "x": 0.6625,
+                            "y": 0.512
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，生菜落入到盘子里。目标任务完成。",
+            "frame": 572,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，生菜落入到盘子里。因此进度提升为100%。",
+            "state_description": "爪夹张开，生菜落入盘子里。\n爪夹松开生菜使其落入盘子的任务目标完成。",
+            "time": 19.052371134020618
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766048455331",
+            "name": "生菜"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766048461475",
+            "name": "盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766048467719",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766048473047",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-101042-mix-blue cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000003.json

@@ -0,0 +1,566 @@
+{
+    "task_description": "抓取蓝色方块放入铁盒里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近铁盒：60%\n爪夹将蓝色方块放入铁盒：80%\n爪夹松开蓝色方块落入铁盒：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
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+            "state_description": "当前为初始状态，爪夹张开，远离蓝色方块，未开始移动。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹左方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。",
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+            "error_success_analysis": "爪夹向爪夹左边移动，更加接近了蓝色方块，方便后续抓取蓝色方块。",
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+            "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到了红色方块。",
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+            "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取到红色方块。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：爪夹松开，爪夹垂直上升并向爪夹右方的蓝色方块移动到蓝色方块的正上方，抓取蓝色方块。",
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+            "error_success_analysis": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面并垂直向上升。",
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+            "progress": -20,
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+            "error_success_analysis": "爪夹角度垂直于桌面，成功抓取到了蓝色方块。",
+            "frame": 272,
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+            "progress_explanation": "爪夹合拢，抓取到了蓝色方块。因此进度提升为40%。",
+            "state_description": "爪夹合拢，爪夹角度垂直于桌面，抓取蓝色方块。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：抓紧蓝色方块垂直升高爪夹并向爪夹左前方的铁盒接近。水平到达铁盒的正上方后将蓝色方块插入对应孔洞，松开爪夹，使蓝色方块落入铁盒。",
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+                            "id": "bbox_1766131337718_1766131587986_hn38jucbh",
+                            "width": 0.2500000000000001,
+                            "x": 0.6784999999999999,
+                            "y": 0.272
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766131342289": {
+                    "instances": [
+                        {
+                            "id": "point_1766131342289_1766131577606_u3mnz87hz",
+                            "x": 0.8225,
+                            "y": 0.38533333333333336
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将蓝色方块插入对应孔洞，松开爪夹，使蓝色方块落入铁盒。",
+            "error_success_analysis": "爪夹移动到了铁盒正上方，方便将蓝色方块插入孔洞。",
+            "frame": 329,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧蓝色方块，向爪夹左前方移动到了铁盒正上方，因此进度提升为60%。",
+            "state_description": "爪夹夹紧蓝色方块位于铁盒正上方，爪夹角度接近垂直于桌面。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：将蓝色方块插入对应孔洞，松开爪夹，使蓝色方块落入铁盒。",
+            "time": 10.966666666666667
+        },
+        {
+            "action_description": "爪夹夹紧蓝色方块，爪夹垂直下降",
+            "annotations": {
+                "bbox_1766131329700": {
+                    "instances": [
+                        {
+                            "height": 0.05600000000000005,
+                            "id": "bbox_1766131329700_1766131603634_mbufvbly5",
+                            "width": 0.04900000000000002,
+                            "x": 0.8145,
+                            "y": 0.3813333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766131337718": {
+                    "instances": [
+                        {
+                            "height": 0.32399999999999995,
+                            "id": "bbox_1766131337718_1766131608574_7yh3bi5dq",
+                            "width": 0.251,
+                            "x": 0.6765000000000001,
+                            "y": 0.26933333333333337
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "松开爪夹，使蓝色方块落入铁盒。",
+            "error_success_analysis": "爪夹夹紧蓝色方块成功将蓝色方块插入到了对应孔洞。",
+            "frame": 366,
+            "progress": 80,
+            "progress_explanation": "爪夹垂直下降，将蓝色方块插入到了对应孔洞。因此进度提升为80%。",
+            "state_description": "爪夹夹紧蓝色方块，将蓝色方块插入对应孔洞。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：松开爪夹，使蓝色方块落入铁盒。",
+            "time": 12.198556701030927
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1766131329700": {
+                    "instances": [
+                        {
+                            "height": 0.045333333333333316,
+                            "id": "bbox_1766131329700_1766131645363_lfz73d6fk",
+                            "width": 0.0379999999999999,
+                            "x": 0.8015000000000001,
+                            "y": 0.452
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766131337718": {
+                    "instances": [
+                        {
+                            "height": 0.3200000000000001,
+                            "id": "bbox_1766131337718_1766131627622_pgckg6qds",
+                            "width": 0.24600000000000008,
+                            "x": 0.6805,
+                            "y": 0.27199999999999996
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766131342289": {
+                    "instances": [
+                        {
+                            "id": "point_1766131342289_1766131621462_goiir2rqw",
+                            "x": 0.8314999999999999,
+                            "y": 0.4346666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹张开，蓝色方块落入铁盒",
+            "frame": 429,
+            "progress": 100,
+            "progress_explanation": "爪夹张开，蓝色方块落入铁盒进度提升为100%。",
+            "state_description": "爪夹张开，蓝色方块落入铁盒。\n爪夹松开蓝色方块落入铁盒的任务目标完成。",
+            "time": 14.305360824742268
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766131329700",
+            "name": "蓝色方块"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766131337718",
+            "name": "铁盒"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766131342289",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766131347918",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-154416-bad-close-microwave/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,361 @@
+{
+    "task_description": "关闭烤箱门：\n准备开始移动：0%\n爪夹靠近烤箱门：20%\n爪夹推动烤箱门：40%\n爪夹推动烤箱门向上提升：60%\n爪夹推动烤箱门靠近烤箱口：80%\n烤箱门完全关闭：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5386666666666666,
+                            "id": "bbox_1766220965109_1766220999476_f2i5kzy4c",
+                            "width": 0.3970000000000001,
+                            "x": 0.43249999999999994,
+                            "y": 0.34933333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221011463_pxgsemiq2",
+                            "x": 0.4245,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766220982282": {
+                    "instances": [
+                        {
+                            "id": "point_1766220982282_1766221014213_6mt2valcp",
+                            "x": 0.4955,
+                            "y": 0.36666666666666664
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左前方的烤箱门靠近，调整爪夹角度接近垂直于桌面。爪夹垂直向下靠近烤箱门，接着爪夹向爪夹左前方边的烤箱口接近，并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中时，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "",
+            "frame": 30,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成关闭烤箱门的任务应当：爪夹向爪夹左前方的烤箱门靠近，调整爪夹角度接近垂直于桌面。",
+            "time": 0.996855670103093
+        },
+        {
+            "action_description": "爪夹垂直升高，向爪夹左前方移动，并调整爪夹角度。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5399999999999999,
+                            "id": "bbox_1766220965109_1766221033415_9pqlha3zc",
+                            "width": 0.39500000000000013,
+                            "x": 0.43149999999999994,
+                            "y": 0.34400000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221024831_28ic02ial",
+                            "x": 0.4255,
+                            "y": 0.428
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766220982282": {
+                    "instances": [
+                        {
+                            "id": "point_1766220982282_1766221027965_0asheft6i",
+                            "x": 0.5045,
+                            "y": 0.4053333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直向下靠近烤箱门，接着爪夹向爪夹左前方边的烤箱口接近，并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中时，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹张开，爪夹角度与桌面呈40度。水平上接近了烤箱门。",
+            "frame": 66,
+            "progress": 10,
+            "progress_explanation": "爪夹张开，爪夹角度与桌面呈40度。水平上接近了烤箱门。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平上接近了烤箱门。\n为完成关闭烤箱门的任务应当：爪夹垂直向下靠近烤箱门，接着爪夹向爪夹左前方边的烤箱口接近，并垂直升高推动烤箱门",
+            "time": 2.2033505154639177
+        },
+        {
+            "action_description": "爪夹向爪夹左前方烤箱门接近，爪夹调整角度。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5400000000000001,
+                            "id": "bbox_1766220965109_1766221053231_82lyjtu4m",
+                            "width": 0.3960000000000001,
+                            "x": 0.4295,
+                            "y": 0.3413333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221046299_2czjp3nsk",
+                            "x": 0.5065000000000001,
+                            "y": 0.5813333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766220982282": {
+                    "instances": [
+                        {
+                            "id": "point_1766220982282_1766221048439_vzzsn88xu",
+                            "x": 0.5755,
+                            "y": 0.5546666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹右移动靠近烤箱门，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门正上方。水平和垂直上更接近了烤箱口。",
+            "frame": 85,
+            "progress": 15,
+            "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门正上方。水平和垂直上更接近了烤箱口。因此进度提升为15%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门正上方。\n为完成关闭烤箱门的任务应当：向爪夹右移动靠近烤箱门，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中",
+            "time": 2.8333333333333335
+        },
+        {
+            "action_description": "爪夹向爪夹右烤箱门边移动，爪夹合拢。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5466666666666666,
+                            "id": "bbox_1766220965109_1766221072929_yr4it23lq",
+                            "width": 0.399,
+                            "x": 0.42650000000000005,
+                            "y": 0.34
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221065877_t8u5z9l5e",
+                            "x": 0.46950000000000003,
+                            "y": 0.632
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹，向爪夹右移动靠近烤箱门边，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹合拢，爪夹角度接近垂直于桌面，移动到烤箱门正上方。水平位置未移动多少。",
+            "frame": 105,
+            "progress": -10,
+            "progress_explanation": "爪夹合拢，爪夹角度接近垂直于桌面，移动到烤箱门正上方。比上一阶段多出一步张开爪夹，因此进度降低为-10%。",
+            "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，移动到烤箱门正上方。\n为完成关闭烤箱门的任务应当：张开爪夹，向爪夹右移动靠近烤箱门边，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中",
+            "time": 3.5
+        },
+        {
+            "action_description": "爪夹向爪夹右移动并抬高，调整爪夹角度。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5386666666666667,
+                            "id": "bbox_1766220965109_1766221098655_gkri9f9bw",
+                            "width": 0.3959999999999999,
+                            "x": 0.42750000000000005,
+                            "y": 0.348
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221091757_p8e94xxyh",
+                            "x": 0.1835,
+                            "y": 0.49733333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766220982282": {
+                    "instances": [
+                        {
+                            "id": "point_1766220982282_1766221094417_030cnil8c",
+                            "x": 0.1905,
+                            "y": 0.504
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹，向爪夹右移动靠近烤箱门边正上方，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹合拢，爪夹与桌面呈45度。移动爪夹右方水平和垂直上远离了烤箱门。",
+            "frame": 133,
+            "progress": -20,
+            "progress_explanation": "爪夹合拢，爪夹与桌面呈45度。移动爪夹右方水平和垂直上远离了烤箱门。比上一步多出一步向爪夹左移动，因此进度降低为-20%。",
+            "state_description": "爪夹合拢，爪夹与桌面呈45度。水平和垂直上远离了烤箱门。\n为完成关闭烤箱门的任务应当：张开爪夹，向爪夹右移动靠近烤箱门边正上方，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中",
+            "time": 4.433333333333334
+        },
+        {
+            "action_description": "爪夹向爪夹右烤箱门边移动并垂直下降，爪夹张开。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5400000000000001,
+                            "id": "bbox_1766220965109_1766221117337_mhb0x3cgt",
+                            "width": 0.3989999999999999,
+                            "x": 0.42350000000000004,
+                            "y": 0.34400000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221111745_ohk7kotea",
+                            "x": 0.4085,
+                            "y": 0.616
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766220982282": {
+                    "instances": [
+                        {
+                            "id": "point_1766220982282_1766221113847_lujwdkkl0",
+                            "x": 0.4915,
+                            "y": 0.5986666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门边正上方，水平上接近了烤箱门。",
+            "frame": 150,
+            "progress": 15,
+            "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门边正上方。水平上接近了烤箱门，因此进度提升为15%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，移动到烤箱门边正上方。\n为完成关闭烤箱门的任务应当：垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中",
+            "time": 5
+        },
+        {
+            "action_description": "爪夹向爪夹左边移动",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5400000000000001,
+                            "id": "bbox_1766220965109_1766221134257_zuumzoln7",
+                            "width": 0.39400000000000013,
+                            "x": 0.43249999999999994,
+                            "y": 0.348
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766220974858": {
+                    "instances": [
+                        {
+                            "id": "point_1766220974858_1766221128805_ys4aukfrm",
+                            "x": 0.4805,
+                            "y": 0.6706666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，越过了烤箱门边。",
+            "frame": 162,
+            "progress": -10,
+            "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，越过了烤箱门边，比上一阶段相比多出一步向爪夹右侧移动，因此进度降低为-10%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，越过了烤箱门边。\n为完成关闭烤箱门的任务应当：爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中",
+            "time": 5.4
+        },
+        {
+            "action_description": "爪夹向爪夹左烤箱口移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5413333333333333,
+                            "id": "bbox_1766220965109_1766221149637_nl4kj1juy",
+                            "width": 0.39299999999999996,
+                            "x": 0.4305,
+                            "y": 0.3426666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开爪夹，爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹合拢，爪夹与桌面呈45度。移动到爪夹左方烤箱口，水平和垂直上远离了烤箱门。",
+            "frame": 203,
+            "progress": -15,
+            "progress_explanation": "爪夹合拢，爪夹与桌面呈45度。移动到爪夹左方烤箱口，水平和垂直上更加远离了烤箱门。因此进度降低为-15%。",
+            "state_description": "爪夹合拢，爪夹与桌面呈45度。爪夹位于烤箱口，水平和垂直上远离了烤箱门。\n为完成关闭烤箱门的任务应当：张开爪夹，爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下",
+            "time": 6.7640721649484545
+        },
+        {
+            "action_description": "爪夹未移动",
+            "annotations": {
+                "bbox_1766220965109": {
+                    "instances": [
+                        {
+                            "height": 0.5373333333333333,
+                            "id": "bbox_1766220965109_1766221280599_ac5um388g",
+                            "width": 0.3960000000000001,
+                            "x": 0.4295,
+                            "y": 0.348
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "张开爪夹，爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下，接着爪夹向爪夹左前方边的烤箱口接近并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中，爪夹向爪夹右移动，重新调整爪夹高度，向爪夹左前方的烤箱门靠近，接着爪夹向爪夹左��动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。",
+            "error_success_analysis": "爪夹合拢，爪夹与桌面呈45度。水平和垂直上远离了烤箱门。不方便抓取烤箱门。",
+            "frame": 249,
+            "progress": -15,
+            "progress_explanation": "爪夹合拢，爪夹与桌面呈45度。水平和垂直上远离了烤箱门。因此进度保持为-15%。",
+            "state_description": "爪夹合拢，爪夹与桌面呈45度，水平和垂直上远离了烤箱门。\n为完成关闭烤箱门的任务应当：张开爪夹，爪夹向爪夹右的烤箱门边缘移动，垂直落下到烤箱门下",
+            "time": 8.3
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766220965109",
+            "name": "烤箱门"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766220974858",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766220982282",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-170544-mix- dianond-shaped plate -microwave/annotations/chunk-000/observation.images.front/episode_000009.json

@@ -0,0 +1,980 @@
+{
+    "task_description": "抓取盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近盘子：20%\n爪夹抓取盘子：40%\n爪夹抓紧盘子接近烤箱：60%\n爪夹将盘子放入烤箱：80%\n爪夹松开盘子落入烤箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2733333333333334,
+                            "id": "bbox_1766391289205_1766391336689_rpks89hkk",
+                            "width": 0.22799999999999998,
+                            "x": 0.2485,
+                            "y": 0.3253333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8066666666666668,
+                            "id": "bbox_1766391298567_1766391345296_6loqu9vwo",
+                            "width": 0.5319999999999998,
+                            "x": 0.46550000000000014,
+                            "y": 0.16266666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391363706_m9brm3zue",
+                            "x": 0.36350000000000005,
+                            "y": 0.38666666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391366824_7gih74hy2",
+                            "x": 0.47050000000000003,
+                            "y": 0.38266666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左前方的盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "",
+            "frame": 63,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向爪夹左前方的盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。",
+            "time": 2.085274893298969
+        },
+        {
+            "action_description": "爪夹向正前方移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2826666666666667,
+                            "id": "bbox_1766391289205_1766391385821_mbxefugz9",
+                            "width": 0.22599999999999998,
+                            "x": 0.2505,
+                            "y": 0.3173333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8160000000000001,
+                            "id": "bbox_1766391298567_1766391392745_h69bbqqwb",
+                            "width": 0.5459999999999999,
+                            "x": 0.45150000000000007,
+                            "y": 0.16266666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391380199_3tgvzpn0d",
+                            "x": 0.3305,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391377700_2ggu9eqvr",
+                            "x": 0.4385,
+                            "y": 0.376
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹角度不方便抓取盘子，爪夹处于盘子正上方。未到盘子边缘。",
+            "frame": 82,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近水平，爪夹垂直上离盘子有一定距离，水平上处于盘子正上方。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近水平，爪夹处于盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。",
+            "time": 2.7401546118556697
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动，并垂直下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2973333333333334,
+                            "id": "bbox_1766391289205_1766391412263_gadj1g9av",
+                            "width": 0.21800000000000003,
+                            "x": 0.23850000000000002,
+                            "y": 0.30666666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8186666666666669,
+                            "id": "bbox_1766391298567_1766391422025_sn6m9g5y1",
+                            "width": 0.5459999999999999,
+                            "x": 0.45050000000000007,
+                            "y": 0.16
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取盘子，抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹垂直下降靠近了盘子边缘，方便爪夹抓取盘子。",
+            "frame": 114,
+            "progress": 20,
+            "progress_explanation": "爪夹的角度接近垂直与桌面，爪夹靠近了盘子边缘。方便抓取盘子，因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹的角度接近垂直与桌面，爪夹靠近了盘子边缘。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹合拢抓取盘子，抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近",
+            "time": 3.8
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.29333333333333333,
+                            "id": "bbox_1766391289205_1766391448607_0bq3wqp9w",
+                            "width": 0.199,
+                            "x": 0.2425,
+                            "y": 0.32133333333333336
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.824,
+                            "id": "bbox_1766391298567_1766391461857_rhxcrn7i5",
+                            "width": 0.54,
+                            "x": 0.4535,
+                            "y": 0.16533333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391443851_2t19mbm7d",
+                            "x": 0.26949999999999996,
+                            "y": 0.516
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "张开爪夹，移动到盘子边缘，爪夹合拢抓取盘子，抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹靠近了盘子边缘，角度并未调整好，碰到了盘子，盘子一边翘起，因此抓取失败。",
+            "frame": 130,
+            "progress": 15,
+            "progress_explanation": "爪夹合拢，抓取盘子失败。需要重���抓取盘子。因此进度降低为15%。",
+            "state_description": "爪夹合拢，爪夹的角度接近垂直与桌面，未抓取到盘子，但还是靠近盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：张开爪夹，移动到盘子边缘，爪夹合拢抓取盘子",
+            "time": 4.325652877835052
+        },
+        {
+            "action_description": "爪夹张开，垂直升高。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2613333333333333,
+                            "id": "bbox_1766391289205_1766391482525_77o0inrwt",
+                            "width": 0.23099999999999993,
+                            "x": 0.24950000000000006,
+                            "y": 0.3653333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8160000000000001,
+                            "id": "bbox_1766391298567_1766391509860_1l7wrs8go",
+                            "width": 0.5410000000000001,
+                            "x": 0.45149999999999996,
+                            "y": 0.16533333333333336
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391475653_e9ghv58p1",
+                            "x": 0.2565,
+                            "y": 0.42533333333333334
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391478434_kej9qgamv",
+                            "x": 0.3545,
+                            "y": 0.456
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度接近垂直于桌面，移动到盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹垂直上远离了盘子，需要重新向盘子边缘移动并调整角度。",
+            "frame": 186,
+            "progress": 10,
+            "progress_explanation": "爪夹张开，角度与桌面呈45度，需要重新调整爪夹角度，垂直上远离了盘子。因此进度降低为10%。",
+            "state_description": "爪夹张开，角度与桌面呈45度，处于盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：调整爪夹角度接近垂直于桌面，移动到盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子",
+            "time": 6.2
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动并下降，调整爪夹角度。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2599999999999999,
+                            "id": "bbox_1766391289205_1766391527236_plb96qiid",
+                            "width": 0.213,
+                            "x": 0.2665,
+                            "y": 0.3693333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.804,
+                            "id": "bbox_1766391298567_1766391537916_pc1pc4j63",
+                            "width": 0.5389999999999999,
+                            "x": 0.45149999999999996,
+                            "y": 0.16266666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391522490_uq71qg8wn",
+                            "x": 0.1985,
+                            "y": 0.7
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直升高，向爪夹正后方移动到正确目标盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹准备抓取错误目标，远离了盘子。",
+            "frame": 213,
+            "progress": -10,
+            "progress_explanation": "爪夹处于错误目标碗的边缘，准备抓取碗，多出一步，爪夹向上垂直升高，因此进度降低为-10%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹处于错误目标碗的边缘。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹垂直升高，向爪夹正后方移动到正确目标盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子",
+            "time": 7.1
+        },
+        {
+            "action_description": "爪夹合拢，",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.26133333333333325,
+                            "id": "bbox_1766391289205_1766391553844_cmcehgofd",
+                            "width": 0.23300000000000004,
+                            "x": 0.2485,
+                            "y": 0.36800000000000005
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+                    "instances": [
+                        {
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+                            "id": "bbox_1766391298567_1766391567890_7wk80799u",
+                            "width": 0.5429999999999999,
+                            "x": 0.45150000000000007,
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+                        {
+                            "id": "point_1766391306739_1766391549642_587pjoqe9",
+                            "x": 0.2375,
+                            "y": 0.6866666666666668
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+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，爪夹垂直升高，向爪夹正后方移动到盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹合拢，抓取到错误目标碗，需要重新调整目标。",
+            "frame": 232,
+            "progress": -20,
+            "progress_explanation": "爪夹合拢，抓取到碗，需要多出两步，张开爪夹，垂直升高爪夹。因此进度降低为-20%。",
+            "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到错误目标碗。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹张开，爪夹垂直升高，向爪夹正后方移动到正确目标盘子边缘",
+            "time": 7.737920885051545
+        },
+        {
+            "action_description": "爪夹夹紧碗垂直向上升高。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.25999999999999995,
+                            "id": "bbox_1766391289205_1766391586143_w8jsyo7zx",
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+                    "instances": [
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+                            "x": 0.2955,
+                            "y": 0.6426666666666667
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+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，爪夹垂直升高，向爪夹正后方移动到盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹合拢，抓取到错误目标碗升到���空，需要重新调整目标。",
+            "frame": 261,
+            "progress": -20,
+            "progress_explanation": "抓夹夹紧着碗，升高到了半空中。与上一步相比还是一样多出一步张开爪夹。因此进度还是为-20%。",
+            "state_description": "抓夹夹紧着碗，升高到了半空中。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹张开，调整爪夹角度接近垂直于桌面，垂直升高，向爪夹正后方移动到盘子边缘",
+            "time": 8.7
+        },
+        {
+            "action_description": "爪夹张开",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
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+                            "height": 0.2586666666666666,
+                            "id": "bbox_1766391289205_1766391616652_9dxpgds5j",
+                            "width": 0.21200000000000005,
+                            "x": 0.26949999999999996,
+                            "y": 0.3693333333333334
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+                    "instances": [
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+                            "x": 0.4535,
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+                            "x": 0.2645,
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+                    "instances": [
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+                            "x": 0.3295,
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度接近垂直于桌面，垂直升高，向爪夹正后方移动到盘子边缘，垂直下降爪夹，爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹垂直和水平上离盘子都有一定距离。需要重新移动。",
+            "frame": 276,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，爪夹水平与盘子略微接近与初始状态差不多。因此进度为0%。",
+            "state_description": "爪夹张开，错误目标掉落，爪夹角度与桌面接近水平。\n为完成抓取盘子使盘子落入烤箱的任务应当：调整爪夹角度接近垂直于桌面，垂直升高，向爪夹正后方移动到盘子边缘",
+            "time": 9.2
+        },
+        {
+            "action_description": "爪夹向爪夹正后方移动，调整爪夹角度。",
+            "annotations": {
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+                    "instances": [
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+                            "id": "bbox_1766391289205_1766391647330_f0w93bn5q",
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+                            "id": "bbox_1766391298567_1766391659402_s7egqezaf",
+                            "width": 0.5449999999999999,
+                            "x": 0.45050000000000007,
+                            "y": 0.15866666666666665
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+                    ],
+                    "type": "bbox"
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+                "point_1766391313372": {
+                    "instances": [
+                        {
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+                            "x": 0.4295,
+                            "y": 0.5226666666666666
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "移动到盘子边缘，垂直向下抓取盘子，抓取盘子后抓紧盘子垂直升高爪夹并向爪��左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹处于盘子正上方。未到盘子边缘。",
+            "frame": 316,
+            "progress": 10,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直上离盘子有一定距离，水平上处于盘子正上方。因此进度提升为10%。",
+            "state_description": "爪夹张开，角度接近垂直于桌面。处于盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：移动到盘子边缘，垂直向下抓取盘子。",
+            "time": 10.529776527319587
+        },
+        {
+            "action_description": "爪夹向爪夹正后方移动并下降",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
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+                            "height": 0.26400000000000007,
+                            "id": "bbox_1766391289205_1766391678431_2wgob6cgg",
+                            "width": 0.23099999999999996,
+                            "x": 0.24450000000000002,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
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+                            "height": 0.8200000000000001,
+                            "id": "bbox_1766391298567_1766391690394_8x5etbtl8",
+                            "width": 0.5439999999999999,
+                            "x": 0.4535,
+                            "y": 0.15866666666666665
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391674434_svp08ke7e",
+                            "x": 0.3825,
+                            "y": 0.4106666666666667
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢抓取盘子，抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹垂直下降靠近了盘子边缘，方便爪夹抓取盘子。",
+            "frame": 374,
+            "progress": 20,
+            "progress_explanation": "爪夹的角度接近垂直与桌面，爪夹靠近了盘子边缘。方便抓取盘子，因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹的角度接近垂直与桌面，爪夹靠近了盘子边缘。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹合拢抓取盘子，抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近",
+            "time": 12.459948329381442
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.26266666666666666,
+                            "id": "bbox_1766391289205_1766391697678_6bmuy28qo",
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+                            "id": "bbox_1766391298567_1766391711612_2odxox4a5",
+                            "width": 0.5389999999999999,
+                            "x": 0.45150000000000007,
+                            "y": 0.16266666666666665
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓紧盘子垂直升高爪夹，并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取，此时爪夹合拢，抓取到盘子。",
+            "frame": 414,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到了目标盘子，因此进度提升为40%。",
+            "state_description": "爪夹合拢，爪夹角度垂直于桌面，抓取到盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：抓紧盘子垂直升高爪夹，并向爪夹左前方的烤箱接近",
+            "time": 13.8
+        },
+        {
+            "action_description": "爪夹夹紧盘子，向爪夹左前方的烤箱口移动。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
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+                            "height": 0.35866666666666663,
+                            "id": "bbox_1766391289205_1766391730548_v5vq4f3x1",
+                            "width": 0.274,
+                            "x": 0.5535,
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+                    ],
+                    "type": "bbox"
+                },
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+                    "instances": [
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+                            "id": "bbox_1766391298567_1766391737292_csmjl9c4v",
+                            "width": 0.5429999999999999,
+                            "x": 0.45150000000000007,
+                            "y": 0.16666666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391313372": {
+                    "instances": [
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+                            "id": "point_1766391313372_1766391725012_vrhqndmds",
+                            "x": 0.5745,
+                            "y": 0.43066666666666664
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹左前方的烤箱口接近，放入烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "盘子靠近了烤箱口的正前方，方便放入烤箱里。",
+            "frame": 468,
+            "progress": 60,
+            "progress_explanation": "爪夹合拢夹紧盘子，盘子被移动到靠近烤箱口的正前方，方便放入烤箱里。因此进度提升为60%。",
+            "state_description": "爪夹合拢夹紧盘子，此时盘子被移动靠近烤箱口的正前方，准备放入烤箱里。\n为完成抓取盘子使盘子落入烤箱的任务应当：继续向爪夹左前方的烤箱口接近，放入烤箱里，松开爪夹，使盘子落入烤箱。",
+            "time": 15.596477507731958
+        },
+        {
+            "action_description": "爪夹夹紧盘子，向爪夹左前方的烤箱口里移动。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
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+                            "height": 0.3346666666666667,
+                            "id": "bbox_1766391289205_1766391755196_cyc1qaqqq",
+                            "width": 0.23000000000000007,
+                            "x": 0.7615000000000001,
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+                    "type": "bbox"
+                },
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+                    "instances": [
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+                            "id": "bbox_1766391298567_1766391768460_rkjru54qi",
+                            "width": 0.548,
+                            "x": 0.45150000000000007,
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+                },
+                "point_1766391313372": {
+                    "instances": [
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+                            "id": "point_1766391313372_1766391750539_el8sxuqou",
+                            "x": 0.7735000000000001,
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "盘子垂直低于烤箱口，方便放入烤箱里。",
+            "frame": 528,
+            "progress": 80,
+            "progress_explanation": "盘子被移动烤箱里，因此进度提升为80%。",
+            "state_description": "爪夹合拢夹紧盘子，此时盘子被移动烤箱口里。\n为完成抓取盘子使盘子落入烤箱的任务应当：松开爪夹，使盘子落入烤箱。",
+            "time": 17.59558401701031
+        },
+        {
+            "action_description": "爪夹张开，向爪夹右方移动，爪夹角度垂直于桌面",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.32800000000000007,
+                            "id": "bbox_1766391289205_1766391782722_k9aeffiwo",
+                            "width": 0.23599999999999993,
+                            "x": 0.7525000000000001,
+                            "y": 0.3933333333333333
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+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.804,
+                            "id": "bbox_1766391298567_1766391805707_56g6sigek",
+                            "width": 0.5459999999999999,
+                            "x": 0.45150000000000007,
+                            "y": 0.16133333333333333
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+                    ],
+                    "type": "bbox"
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+                "point_1766391306739": {
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+                        {
+                            "id": "point_1766391306739_1766391797816_2lgua2d5m",
+                            "x": 0.6245,
+                            "y": 0.5026666666666667
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+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391800641_g4uwug1z9",
+                            "x": 0.7285,
+                            "y": 0.4266666666666667
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "error_success_analysis": "盘子一半在烤箱外，还没有完全进入烤箱里。",
+            "frame": 549,
+            "progress": 85,
+            "progress_explanation": "盘子一半未完全进入烤箱里，需要继续移动盘子。因此进度为85%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈45度。处于烤箱口正前方，远离了盘子。盘子一半未完全进入烤箱里。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "time": 18.28493108917526
+        },
+        {
+            "action_description": "爪夹合拢，向爪夹左前方的盘子移动。",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.3266666666666666,
+                            "id": "bbox_1766391289205_1766391829609_yol4wqwm9",
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+                            "x": 0.7545000000000001,
+                            "y": 0.396
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
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+                            "height": 0.7933333333333332,
+                            "id": "bbox_1766391298567_1766391840131_34ahx5kvx",
+                            "width": 0.5469999999999999,
+                            "x": 0.4495,
+                            "y": 0.168
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391819372_w0b43rh6m",
+                            "x": 0.8955,
+                            "y": 0.388
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391823571_111raztyz",
+                            "x": 0.9055,
+                            "y": 0.38
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直向下并向爪夹左方移动，接着爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "error_success_analysis": "爪夹处于烤箱口盘子正上方，不方便推动盘子。",
+            "frame": 594,
+            "progress": 80,
+            "progress_explanation": "爪夹角度与桌面接近水平，处于烤箱口盘子正上方。不方便推动盘子，因此进度降低为80%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面接近水平。处于烤箱口盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹垂直向下并向爪夹左方移动，接着爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "time": 19.801494647938142
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.328,
+                            "id": "bbox_1766391289205_1766391861260_0u4qqncyz",
+                            "width": 0.22700000000000015,
+                            "x": 0.7565,
+                            "y": 0.39866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8026666666666666,
+                            "id": "bbox_1766391298567_1766391875638_3n0dgqrrq",
+                            "width": 0.543,
+                            "x": 0.45149999999999996,
+                            "y": 0.16666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391306739": {
+                    "instances": [
+                        {
+                            "id": "point_1766391306739_1766391853814_p179dk1yx",
+                            "x": 0.6295,
+                            "y": 0.4826666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391856662_svj1zpj7r",
+                            "x": 0.6365000000000001,
+                            "y": 0.47866666666666663
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "error_success_analysis": "盘子一半在外面，需要继续推动盘子。",
+            "frame": 627,
+            "progress": 85,
+            "progress_explanation": "爪夹水平上远离了盘子，盘子一半还是在外面。因此进度保持85%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面接近45度。水平上远离了盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "time": 20.9
+        },
+        {
+            "action_description": "爪夹向爪夹左前方的烤箱里盘子移动",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.3093333333333333,
+                            "id": "bbox_1766391289205_1766391889784_ficxgijr6",
+                            "width": 0.1919999999999999,
+                            "x": 0.8065000000000001,
+                            "y": 0.4040000000000001
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8133333333333332,
+                            "id": "bbox_1766391298567_1766391911342_r07y2doav",
+                            "width": 0.548,
+                            "x": 0.4504999999999999,
+                            "y": 0.16133333333333338
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹继续向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "error_success_analysis": "爪夹角度和高度方便推动烤箱里的盘子，盘子快要完全落入烤箱里。",
+            "frame": 776,
+            "progress": 95,
+            "progress_explanation": "爪夹正向烤箱里推动盘子，盘子快要完全落入烤箱里。因此进度提升为95%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面呈40度。正向烤箱里推动盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹继续向烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "time": 25.86774888298969
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动，爪夹张开",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.28933333333333333,
+                            "id": "bbox_1766391289205_1766391938204_eaec0htq6",
+                            "width": 0.1749999999999999,
+                            "x": 0.8205000000000002,
+                            "y": 0.41600000000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8133333333333332,
+                            "id": "bbox_1766391298567_1766391951724_fhsbrkrhx",
+                            "width": 0.5459999999999999,
+                            "x": 0.45150000000000007,
+                            "y": 0.16
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766391313372": {
+                    "instances": [
+                        {
+                            "id": "point_1766391313372_1766391933396_4relns6dr",
+                            "x": 0.6845,
+                            "y": 0.4066666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹左前方烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "error_success_analysis": "盘子一小部还在外，需要继续推动盘子。",
+            "frame": 820,
+            "progress": 95,
+            "progress_explanation": "爪夹水平上远离了盘子。盘子一小部分在外因此进度保持95%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面呈40度。水平上远离了盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向爪夹左前方烤箱里的盘子推动，使盘子完全落入烤箱。",
+            "time": 27.333333333333332
+        },
+        {
+            "action_description": "爪夹向爪夹左前方烤箱里的盘子移动，合拢爪夹",
+            "annotations": {
+                "bbox_1766391289205": {
+                    "instances": [
+                        {
+                            "height": 0.2533333333333333,
+                            "id": "bbox_1766391289205_1766391967475_x17byfzir",
+                            "width": 0.12699999999999995,
+                            "x": 0.8685,
+                            "y": 0.452
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766391298567": {
+                    "instances": [
+                        {
+                            "height": 0.8079999999999999,
+                            "id": "bbox_1766391298567_1766391974277_ow3ox1bx2",
+                            "width": 0.545,
+                            "x": 0.45249999999999996,
+                            "y": 0.16266666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "盘子完全落入烤箱里，任务完成。",
+            "frame": 956,
+            "progress": 100,
+            "progress_explanation": "盘子完全落入烤箱里，任务完成因此进度提升为100%。",
+            "state_description": "爪夹合拢，盘子完全落入烤箱里。\n完成了抓取盘子使盘子落入烤箱的任务目标。",
+            "time": 31.865068410824737
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766391289205",
+            "name": "盘子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766391298567",
+            "name": "烤箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766391306739",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766391313372",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-171923-bad--green cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,634 @@
+{
+    "task_description": "抓取绿色长方体放入铁盒里：\n准备开始移动：0%\n爪夹靠近绿色长方体：20%\n爪夹抓取绿色长方体：40%\n爪夹抓紧绿色长方体接近铁盒：60%\n爪夹将绿色长方体插入对应铁盒孔洞：80%\n爪夹松开绿色长方体落入铁盒：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
+                            "height": 0.08266666666666668,
+                            "id": "bbox_1766394675569_1766394713525_6iokqfnp8",
+                            "width": 0.0370000000000001,
+                            "x": 0.43149999999999994,
+                            "y": 0.544
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766394685548": {
+                    "instances": [
+                        {
+                            "height": 0.3266666666666666,
+                            "id": "bbox_1766394685548_1766394721319_4advdbww6",
+                            "width": 0.2560000000000001,
+                            "x": 0.6735,
+                            "y": 0.31466666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
+                        {
+                            "id": "point_1766394694920_1766394733048_qxynqfsaa",
+                            "x": 0.45149999999999996,
+                            "y": 0.3546666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766394700830": {
+                    "instances": [
+                        {
+                            "id": "point_1766394700830_1766394735734_bjdb5c5be",
+                            "x": 0.5545,
+                            "y": 0.34933333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右前方的绿色长方体移动，同时调整爪夹的角度使其垂直与桌面，并移动到绿色长方体的正上方。接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "",
+            "frame": 84,
+            "progress": 0,
+            "progress_explanation": "当前为初始状态，爪夹张开，远离绿色长方体，未开始移动。进度0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离绿色长方体，未开始移动。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹右前方的绿色长方体移动，同时调整爪夹的角度使其垂直与桌面，并移动到绿色长方体的正上方。",
+            "time": 2.785721649484536
+        },
+        {
+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
+                            "height": 0.07733333333333334,
+                            "id": "bbox_1766394675569_1766394750280_03t5d0dl5",
+                            "width": 0.039000000000000055,
+                            "x": 0.4295,
+                            "y": 0.5493333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766394685548": {
+                    "instances": [
+                        {
+                            "height": 0.3253333333333333,
+                            "id": "bbox_1766394685548_1766394754894_q9y7lowju",
+                            "width": 0.25299999999999995,
+                            "x": 0.6755000000000001,
+                            "y": 0.31200000000000006
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
+                        {
+                            "id": "point_1766394694920_1766394743978_v0r0iibos",
+                            "x": 0.4625,
+                            "y": 0.49600000000000005
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+                    ],
+                    "type": "point"
+                },
+                "point_1766394700830": {
+                    "instances": [
+                        {
+                            "id": "point_1766394700830_1766394741332_60mm7gt8r",
+                            "x": 0.5665,
+                            "y": 0.4733333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方，接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹张开，水平上接近了绿色长方体。更加方便抓取绿色长方体。",
+            "frame": 122,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近垂直，与绿色长方体距离缩短了。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平上接近了绿色长方体。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方。",
+            "time": 4.1
+        },
+        {
+            "action_description": "爪夹向爪夹左前方移动",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
+                            "height": 0.07866666666666665,
+                            "id": "bbox_1766394675569_1766394775832_kegq1vwok",
+                            "width": 0.03700000000000001,
+                            "x": 0.4305,
+                            "y": 0.548
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766394685548": {
+                    "instances": [
+                        {
+                            "height": 0.3226666666666667,
+                            "id": "bbox_1766394685548_1766394781112_vulg7wyh3",
+                            "width": 0.255,
+                            "x": 0.6745,
+                            "y": 0.31466666666666665
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
+                        {
+                            "id": "point_1766394694920_1766394771685_h13pjj1lt",
+                            "x": 0.48950000000000005,
+                            "y": 0.5413333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直升高，爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方。接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹触碰到了错误目标黄色方块，需重新调整角度和位置。",
+            "frame": 188,
+            "progress": -5,
+            "progress_explanation": "爪夹角度与桌面接近垂直，触碰到了错误目标黄色方块。比上一阶段多出一步向上垂直升高，因此进度降低为-5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直。略微远离了绿色长方体，触碰到了黄色方块。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：爪夹垂直升高，爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方。",
+            "time": 6.25582474226804
+        },
+        {
+            "action_description": "爪夹向下垂直移动",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
+                            "height": 0.08000000000000007,
+                            "id": "bbox_1766394675569_1766394801642_cm8w1h80a",
+                            "width": 0.03799999999999999,
+                            "x": 0.43150000000000005,
+                            "y": 0.5466666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766394685548": {
+                    "instances": [
+                        {
+                            "height": 0.32533333333333336,
+                            "id": "bbox_1766394685548_1766394810731_qkrjcl0jj",
+                            "width": 0.25299999999999995,
+                            "x": 0.6775,
+                            "y": 0.3106666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
+                        {
+                            "id": "point_1766394694920_1766394794876_zlnjxwaob",
+                            "x": 0.48150000000000004,
+                            "y": 0.588
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹垂直升高，爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方。接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹触碰到了错误目标黄色方块后，未需重新调整位置，继续向下放倒了黄色方块。",
+            "frame": 231,
+            "progress": -10,
+            "progress_explanation": "爪夹角度与桌面接近垂直，放倒了错误目标黄色方块。比上一阶段多出一步向上垂直升高，因此进度降低为-10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直。略微远离了绿色长方体，把黄色方块碰倒地。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：爪夹垂直升高，爪夹向爪夹右前方的绿色长方体移动，移动到绿色长方体的正上方。",
+            "time": 7.701701030927834
+        },
+        {
+            "action_description": "爪夹垂直升高并向爪夹右前方的绿色长方体移动",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
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+                            "x": 0.5145000000000001,
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+            },
+            "correction_plan": "落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹来到绿色长方体正上方，方便后续抓取。",
+            "frame": 246,
+            "progress": 15,
+            "progress_explanation": "爪夹角度与桌面接近垂直，爪夹来到绿色长方体正上方。因此进度提升为15%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直。爪夹位于绿色长方体正上方。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。",
+            "time": 8.233333333333333
+        },
+        {
+            "action_description": "爪夹垂直向下移动",
+            "annotations": {
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+            "correction_plan": "爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹靠近了绿色长方体，方便后续抓取",
+            "frame": 275,
+            "progress": 20,
+            "progress_explanation": "爪夹垂直向下移动靠近了绿色长方体。方便抓取，因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了绿色长方体。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近",
+            "time": 9.166855670103091
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
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+            },
+            "correction_plan": "抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹合拢抓取到绿色长方体",
+            "frame": 305,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到绿色长方体，爪夹角度与桌面接近垂直。因此进度提升为40%。",
+            "state_description": "爪夹合拢抓取到绿色长方体，爪夹角度与桌面接近垂直。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近",
+            "time": 10.166666666666666
+        },
+        {
+            "action_description": "爪夹夹紧绿色长方体，垂直升高，向爪夹左前方移动。",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
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+                    "instances": [
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+                            "x": 0.5495,
+                            "y": 0.34
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+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续抓紧绿色长方体向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹合拢夹紧绿色长方体，水平上接近了铁盒",
+            "frame": 357,
+            "progress": 50,
+            "progress_explanation": "爪夹合拢夹紧绿色长方体，缩短了与铁盒间距离。因此进度提升为50%。",
+            "state_description": "爪夹合拢夹紧绿色长方体，水平上接近了铁盒。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：继续抓紧绿色长方体向爪夹左前方的铁盒接近",
+            "time": 11.9
+        },
+        {
+            "action_description": "爪夹夹紧绿色长方体，向爪夹左前方移动",
+            "annotations": {
+                "bbox_1766394675569": {
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+                    "instances": [
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+                            "x": 0.8135,
+                            "y": 0.2826666666666667
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，来到了铁盒正上方。方便后续动作完成。",
+            "frame": 416,
+            "progress": 60,
+            "progress_explanation": "爪夹合拢夹紧绿色长方体，垂直升高并向爪夹右边的铁盒接近。水平上接近了铁盒正上方，因此进度提升为60%。",
+            "state_description": "爪夹合拢夹紧绿色长方体，爪夹位于铁盒正上方。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "time": 13.866666666666667
+        },
+        {
+            "action_description": "爪夹垂直下落",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
+                            "height": 0.10266666666666667,
+                            "id": "bbox_1766394675569_1766394994612_v0j325a0h",
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+                            "x": 0.7265,
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+                    "type": "bbox"
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+                    "instances": [
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+                            "x": 0.6745,
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+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
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+                            "x": 0.7395,
+                            "y": 0.4106666666666667
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "垂直升高爪夹，将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "将绿色长方体插入错误孔洞。",
+            "frame": 449,
+            "progress": 70,
+            "progress_explanation": "爪夹将绿色长方体插入到了错误孔洞，比下一步插入到对应孔洞多出一步，因此进度为70%。",
+            "state_description": "爪夹夹紧绿色长方体，将绿色长方体插入错误孔洞。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：垂直升高爪夹，将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "time": 14.966666666666667
+        },
+        {
+            "action_description": "爪夹松开，垂直升高",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766394675569_1766395017400_gdpvd4ypo",
+                            "width": 0.07000000000000002,
+                            "x": 0.5585,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766394685548": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766394685548_1766395026714_uza3gno46",
+                            "width": 0.26099999999999995,
+                            "x": 0.6705,
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+                    "type": "bbox"
+                },
+                "point_1766394694920": {
+                    "instances": [
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+                            "id": "point_1766394694920_1766395009390_7f8kwf62g",
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+                            "y": 0.3186666666666667
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+                    ],
+                    "type": "point"
+                },
+                "point_1766394700830": {
+                    "instances": [
+                        {
+                            "id": "point_1766394700830_1766395011946_j9dvjwknb",
+                            "x": 0.8085000000000001,
+                            "y": 0.24533333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪甲角度，向爪甲右后方的绿色长方体移动。移动到绿色长方体的正上方，接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "绿色长方体掉落到桌面上，需重新向绿色长方体移动。",
+            "frame": 538,
+            "progress": 5,
+            "progress_explanation": "爪夹张开，绿色长方体掉落到桌面上，需重新向绿色长方体移动。水平上距离不是太远。因此进度为5%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈50度。绿色长方体掉落到桌面上。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：调整爪甲角度，向爪甲右后方的绿色长方体移动。",
+            "time": 17.938505154639174
+        },
+        {
+            "action_description": "爪夹向爪夹右后方移动",
+            "annotations": {
+                "bbox_1766394675569": {
+                    "instances": [
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+                            "id": "bbox_1766394675569_1766395064517_e5l2ezvw1",
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+                    "type": "bbox"
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+                    "type": "point"
+                },
+                "point_1766394700830": {
+                    "instances": [
+                        {
+                            "id": "point_1766394700830_1766395058512_cay4a32oz",
+                            "x": 0.6785,
+                            "y": 0.3453333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪甲角度，继续向爪甲右后方的绿色长方体移动，移动到绿色长方体的正上方，接着落下爪夹靠近绿色长方体，接近绿色长方体后爪夹合拢抓取绿色长方体。抓紧绿色长方体垂直升高爪夹并向爪夹左前方的铁盒接近，水平到达铁盒的正上方后将绿色长方体插入对应孔洞，松开爪夹，使绿色长方体落入铁盒。",
+            "error_success_analysis": "爪夹缩短了绿色长方体的距离。方便后续下落抓取。",
+            "frame": 561,
+            "progress": 10,
+            "progress_explanation": "爪夹水平上接近绿色长方体正上方。方便后续下落抓取，因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈45度。接近绿色长方体正上方。\n为完成抓取绿色长方体插入相应的孔洞使其落入铁盒的任务应当：调整爪甲角度，继续向爪甲右后方的绿色长方体移动。",
+            "time": 18.690360824742267
+        }
+    ],
+    "tags": [
+        "custom1"
+    ],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766394675569",
+            "name": "绿色长方体"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766394685548",
+            "name": "铁盒"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766394694920",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766394700830",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-173810-good-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000024.json

@@ -0,0 +1,402 @@
+{
+    "task_description": "抓取黄色圆柱放入铁盒里：\n准备开始移动：0%\n爪夹靠近黄色圆柱：20%\n爪夹抓取黄色圆柱：40%\n爪夹抓紧黄色圆柱接近铁盒：60%\n爪夹将黄色圆柱放入铁盒：80%\n爪夹松开黄色圆柱落入铁盒：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766454858667": {
+                    "instances": [
+                        {
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+                            "x": 0.5495,
+                            "y": 0.6839999999999999
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766454865216": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766454865216_1766454899255_7qde4rjn2",
+                            "width": 0.267,
+                            "x": 0.2105,
+                            "y": 0.44666666666666666
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+                    "type": "bbox"
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+                "point_1766454870981": {
+                    "instances": [
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+            "correction_plan": "爪夹向爪夹左方的黄色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色圆柱的正上方。接着落下爪夹靠近黄色圆柱，接近黄色圆柱后爪夹合拢抓取黄色圆柱。抓紧黄色圆柱垂直升高爪夹并向爪夹右前方的铁盒接近，水平到达铁盒的正上方后将黄色圆柱插入对应孔洞，松开爪夹，使黄色圆柱落入铁盒。",
+            "error_success_analysis": "",
+            "frame": 48,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，未开始移动，进度0%。",
+            "state_description": "当前为初始状态，爪夹张开，远离黄色圆柱，未开始移动。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹左方的黄色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色圆柱的正上方。",
+            "time": 1.6059278829896906
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+            "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。",
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+            "correction_plan": "爪夹继续向爪夹左方的黄色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色圆柱的正上方。接着落下爪夹靠近黄色圆柱，接近黄色圆柱后爪夹合拢抓取黄色圆柱。抓紧黄色圆柱垂直升高爪夹并向爪夹右前方的铁盒接近，水平到达铁盒的正上方后将黄色圆柱插入对应孔洞，松开爪夹，使黄色圆柱落入铁盒。",
+            "error_success_analysis": "爪夹缩短了与蓝色方块的距离，方便抓取。",
+            "frame": 85,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近平行，距离上接近了黄色圆柱，因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度接近平行于桌面。略微接近了黄色圆柱。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹左方的黄色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色圆柱的正上方。",
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+            "correction_plan": "爪夹合拢抓取黄色圆柱。抓紧黄色圆柱垂直升高爪夹并向爪夹右前方的铁盒接近，水平到达铁盒的正上方后将黄色圆柱插入对应孔洞，松开爪夹，使黄色圆柱落入铁盒。",
+            "error_success_analysis": "爪夹角度调整为垂直于桌面，爪夹向爪夹左前方移动并垂直向下来到黄色圆柱正上方，方便抓取。",
+            "frame": 144,
+            "progress": 20,
+            "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黄色圆柱。因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，处于黄色圆柱正上方。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：爪夹合拢抓取黄色圆柱。抓紧黄色圆柱垂直升高爪夹并向爪夹右前方的铁盒接近",
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+            "error_success_analysis": "爪夹合拢，成功抓取到黄色圆柱。",
+            "frame": 190,
+            "progress": 40,
+            "progress_explanation": "爪夹角度接近垂直于桌面，爪夹抓取到了黄色圆柱，因此进度提升为40%。",
+            "state_description": "爪夹合拢，爪夹角度垂直于桌面，抓取黄色圆柱。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：抓紧黄色圆柱垂直升高爪夹并向爪夹右前方的铁盒接近",
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+        {
+            "action_description": "爪夹夹紧黄色圆柱，爪夹向爪夹右前方的铁盒移动。",
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+            "correction_plan": "将黄色圆柱插入对应孔洞，松开爪夹，使黄色圆柱落入铁盒。",
+            "error_success_analysis": "爪夹抓紧黄色圆柱接近铁盒，成功来到铁盒正上方。方便插入黄色圆柱。",
+            "frame": 238,
+            "progress": 60,
+            "progress_explanation": "爪夹夹紧黄色圆柱，来到铁盒正上方，因此进度提升为60%。",
+            "state_description": "爪夹夹紧黄色圆柱，爪夹角度接近垂直于桌面，处于铁盒正上方。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：将黄色圆柱插入对应孔洞，松开爪夹，使黄色圆柱落入铁盒。",
+            "time": 7.9395
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+        {
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+            "correction_plan": "松开爪夹，使黄色圆柱落入铁盒。",
+            "error_success_analysis": "黄色圆柱插入到对应孔洞，方便黄色圆柱落入铁盒。",
+            "frame": 288,
+            "progress": 80,
+            "progress_explanation": "爪夹角度接近垂直于桌面，黄色圆柱插入到对应孔洞。因此进度提升为80%。",
+            "state_description": "爪夹夹紧黄色圆柱，爪夹角度接近垂直于桌面，将黄色插入对应孔洞。\n为完成抓取黄色圆柱插入相应的孔洞使其落入铁盒的任务应当：松开爪夹，使黄色圆柱落入铁盒。",
+            "time": 9.6
+        },
+        {
+            "action_description": "爪夹张开",
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+            "error_success_analysis": "爪夹松开黄色圆柱落入铁盒 任务完成",
+            "frame": 310,
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+            "progress_explanation": "爪夹张开，黄色圆柱落入铁盒里。因此进度提升为100%。",
+            "state_description": "爪夹张开，角度保持垂直向下于桌面。位置处于铁盒正上方。\n爪夹松开黄色圆柱落入铁盒的任务目标完成。",
+            "time": 10.320532954123712
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+            "id": "bbox_1766454858667",
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+        {
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+            "id": "bbox_1766454865216",
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+    "point_targets": [
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+            "color": "#2196F3",
+            "id": "point_1766454870981",
+            "name": "爪夹左"
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+        {
+            "color": "#F44336",
+            "id": "point_1766454877267",
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+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-182444-bad- dianond-shaped plate -microwave/annotations/chunk-000/observation.images.front/episode_000005.json

@@ -0,0 +1,504 @@
+{
+    "task_description": "抓取盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近盘子：20%\n爪夹抓取盘子：40%\n爪夹抓紧盘子接近烤箱：60%\n爪夹将盘子放入烤箱：80%\n爪夹松开盘子落入烤箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "correction_plan": "爪夹向爪夹右前方的盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "",
+            "frame": 46,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成使盘子落入烤箱的任务应当：爪夹向爪夹右前方的盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。",
+            "time": 1.5454810675257733,
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+                    "type": "bbox",
+                    "instances": [
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+                            "width": 0.491,
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+                }
+            }
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+        {
+            "action_description": "爪夹向正前方移动，调整爪夹角度",
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+            "error_success_analysis": "爪夹角度方便抓取盘子，爪夹处于盘子正上方。未到盘子边缘。",
+            "frame": 98,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近垂直，爪夹垂直上离盘子有一定距离，水平上处于盘子正上方。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直，爪夹处于盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：调整爪夹的角度使其垂直与桌面，并移动到盘子边缘的正上方。",
+            "time": 3.281048041752577,
+            "annotations": {
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+                    "instances": [
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+                            "id": "point_1766473637725_1766473717838_b2wsx3di2",
+                            "x": 0.42350000000000004,
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+                    "type": "bbox",
+                    "instances": [
+                        {
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+                            "y": 0.3973333333333333,
+                            "width": 0.231,
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+                },
+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473735369_d3le46pyw",
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动并下降",
+            "correction_plan": "爪夹垂直上升，向爪夹右侧移动到盘子边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹张开，向爪夹右前方移动并下降时碰到了盘子，使盘子翘起。",
+            "frame": 121,
+            "progress": -10,
+            "progress_explanation": "爪夹张开，爪夹碰到了盘子。比上一阶段多一步上升爪夹。因此进度降低为-10%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹碰到了盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹垂直上升，向爪夹右侧移动到盘子边缘的正上方。",
+            "time": 4.041391668556701,
+            "annotations": {
+                "point_1766473632461": {
+                    "type": "point",
+                    "instances": [
+                        {
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+                    "type": "point",
+                    "instances": [
+                        {
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+                },
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+                    "type": "bbox",
+                    "instances": [
+                        {
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+                            "y": 0.376,
+                            "width": 0.21900000000000003,
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+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
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+                            "x": 0.5005,
+                            "y": 0.09466666666666666,
+                            "width": 0.497,
+                            "height": 0.868
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹右前方移动升高合拢",
+            "correction_plan": "爪夹张开，向爪夹右侧移动到盘子边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹向爪夹右前方移动升高合拢，未向正确规划做出动作。",
+            "frame": 149,
+            "progress": -20,
+            "progress_explanation": "爪夹合拢，爪夹角度接近垂直桌面，相比上一阶段多出一步，张开爪夹。因此进度降低为-20%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面呈80度。处于盘子正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹张开，向爪夹右侧移动到盘子边缘的正上方。",
+            "time": 4.954299,
+            "annotations": {
+                "point_1766473632461": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473632461_1766473772495_hooj97vqw",
+                            "x": 0.1355,
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+                    ]
+                },
+                "point_1766473637725": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473637725_1766473775591_fwpjly4w4",
+                            "x": 0.1405,
+                            "y": 0.41466666666666663
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+                },
+                "bbox_1766473618101": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473618101_1766473781755_l8fmprdjm",
+                            "x": 0.0645,
+                            "y": 0.404,
+                            "width": 0.24100000000000002,
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+                    ]
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+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473788111_n2z6wzx69",
+                            "x": 0.5035000000000001,
+                            "y": 0.096,
+                            "width": 0.4939999999999999,
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向左前方移动，张开爪夹",
+            "correction_plan": "爪夹向爪夹右测移动到盘子右侧边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹角度方便抓取盘子，爪夹处于盘子左侧边缘正上方。未到盘子右侧边缘。",
+            "frame": 192,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面接近垂直，爪夹垂直上离盘子有一定距离，水平上处于盘子左边边缘正上方。因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上处于盘子左边缘正上方。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向爪夹右测移动到盘子右侧边缘的正上方。",
+            "time": 6.397299,
+            "annotations": {
+                "point_1766473632461": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473632461_1766473801955_ljveg5con",
+                            "x": 0.2655,
+                            "y": 0.492
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+                },
+                "point_1766473637725": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473637725_1766473804371_65rze92v6",
+                            "x": 0.36750000000000005,
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+                },
+                "bbox_1766473618101": {
+                    "type": "bbox",
+                    "instances": [
+                        {
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+                            "x": 0.06450000000000002,
+                            "y": 0.41066666666666674,
+                            "width": 0.246,
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+                    ]
+                },
+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473821499_yw2z7f6b9",
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+                            "width": 0.49700000000000016,
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹垂直升高并向爪夹左侧移动，调整爪夹角度",
+            "correction_plan": "爪夹向爪夹右测移动到盘子右侧边缘的正上方。并调整爪夹角度接近垂直于桌面。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹向爪夹左侧移动，调整爪夹角度接近���桌子水平。在距离上更加远离了盘子。",
+            "frame": 223,
+            "progress": 0,
+            "progress_explanation": "爪夹远离了盘子，角度与桌子接近水平，与初始状态时后续规划步骤一样，因此进度降低为0%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近水平，远离了盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向爪夹右测移动到盘子右侧边缘的正上方。并调整爪夹角度接近垂直于桌面。",
+            "time": 7.423433,
+            "annotations": {
+                "point_1766473632461": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473632461_1766473838827_8xjirrpo6",
+                            "x": 0.4845,
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+                    ]
+                },
+                "point_1766473637725": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473637725_1766473841371_dv1yesfbj",
+                            "x": 0.5055,
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+                    ]
+                },
+                "bbox_1766473618101": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473618101_1766473846847_a08psogjv",
+                            "x": 0.0695,
+                            "y": 0.4066666666666667,
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+                },
+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473860747_pcxtzfas9",
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+                            "y": 0.09200000000000001,
+                            "width": 0.493,
+                            "height": 0.8706666666666667
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹垂直向下移动，调整爪夹角度",
+            "correction_plan": "爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹垂直向下移动，远离了盘子，不方便后续抓取盘子",
+            "frame": 250,
+            "progress": -10,
+            "progress_explanation": "爪夹在水平上远离了盘子，比上一阶段多出一步，垂直升高爪夹。因此进度降低为-10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面接近垂直，爪夹远离盘子，贴近桌面上。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。",
+            "time": 8.337332,
+            "annotations": {
+                "point_1766473632461": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473632461_1766473875913_dptf53dn5",
+                            "x": 0.5725,
+                            "y": 0.6626666666666666
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+                    ]
+                },
+                "bbox_1766473618101": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473618101_1766473880371_s5i5ah8d1",
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+                            "y": 0.40800000000000003,
+                            "width": 0.246,
+                            "height": 0.27599999999999997
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+                    ]
+                },
+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473890941_m31vlakhr",
+                            "x": 0.5055,
+                            "y": 0.09333333333333332,
+                            "width": 0.491,
+                            "height": 0.8653333333333334
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左侧移动，合拢爪夹",
+            "correction_plan": "爪夹张开，爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹向爪夹左侧移动到了烤箱口正前方，爪夹合拢，距离目标盘子更远。",
+            "frame": 320,
+            "progress": -20,
+            "progress_explanation": "爪夹水平上更加远离了盘子，比起上一阶段多出一步，张开爪夹。因此进度降低为-20%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，爪夹接近烤箱口。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹张开，爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。",
+            "time": 10.666666666666666,
+            "annotations": {
+                "bbox_1766473618101": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473618101_1766473905651_8se5rjc28",
+                            "x": 0.0645,
+                            "y": 0.4013333333333334,
+                            "width": 0.246,
+                            "height": 0.2826666666666666
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+                    ]
+                },
+                "bbox_1766473624046": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766473624046_1766473911477_a2volzscm",
+                            "x": 0.5005,
+                            "y": 0.09466666666666666,
+                            "width": 0.496,
+                            "height": 0.8666666666666667
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+                    ]
+                }
+            }
+        },
+        {
+            "action_description": "爪夹向爪夹左侧移动并升高，调整爪夹角度",
+            "correction_plan": "爪夹张开，调整爪夹角度接近垂直于桌面，爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。接着落下爪夹靠近盘子，接近盘子后爪夹合拢抓取盘子。抓紧盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将盘子放入对应烤箱里，松开爪夹，使盘子落入烤箱。",
+            "error_success_analysis": "爪夹与目标物盘子距离更加远，抓取盘子更加不方便。",
+            "frame": 429,
+            "progress": -30,
+            "progress_explanation": "爪夹角度与桌面接近平行，爪夹未抓取目标盘子伸入烤箱，比上一步多一步调整爪夹角度接近垂直于桌面，因此进度降低为-30%。",
+            "state_description": "爪夹合拢，爪夹角度与桌面接近平行，爪夹伸入烤箱口内。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹张开，调整爪夹角度接近垂直于桌面，爪夹垂直升高，向爪夹右测移动到盘子右侧边缘的正上方。",
+            "time": 14.306030630412371,
+            "annotations": {
+                "point_1766473637725": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766473637725_1766473940941_e7wch8wub",
+                            "x": 0.9125,
+                            "y": 0.23733333333333334
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+                },
+                "point_1766473632461": {
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+                            "id": "point_1766473632461_1766473943907_r1rhr6wma",
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+                    "type": "bbox",
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+                        {
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+            }
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "id": "bbox_1766473618101",
+            "name": "盘子",
+            "color": "#4CAF50"
+        },
+        {
+            "id": "bbox_1766473624046",
+            "name": "烤箱",
+            "color": "#FF9800"
+        }
+    ],
+    "point_targets": [
+        {
+            "id": "point_1766473632461",
+            "name": "爪夹左",
+            "color": "#2196F3"
+        },
+        {
+            "id": "point_1766473637725",
+            "name": "爪夹右",
+            "color": "#F44336"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-144034-good-plate-lettuce-microwave/annotations/chunk-000/observation.images.front/episode_000007.json

@@ -0,0 +1,410 @@
+{
+    "task_description": "抓取多边形盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近多边形盘子：20%\n爪夹抓取多边形盘子：40%\n爪夹抓紧多边形盘子接近烤箱：60%\n爪夹将多边形盘子放入烤箱：80%\n爪夹松开多边形盘子落入烤箱：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，未开始移动。",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
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+                            "height": 0.3053333333333333,
+                            "id": "bbox_1766562833862_1766562874044_z0jnibql3",
+                            "width": 0.246,
+                            "x": 0.2465,
+                            "y": 0.48000000000000004
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766562841059": {
+                    "instances": [
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+                            "id": "bbox_1766562841059_1766562881691_odhd4ar0c",
+                            "width": 0.518,
+                            "x": 0.4795,
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+                    ],
+                    "type": "bbox"
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+                "point_1766562850242": {
+                    "instances": [
+                        {
+                            "id": "point_1766562850242_1766562866871_dyirwr15z",
+                            "x": 0.4165,
+                            "y": 0.39333333333333337
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+                    "type": "point"
+                },
+                "point_1766562856406": {
+                    "instances": [
+                        {
+                            "id": "point_1766562856406_1766562869674_6wr1uk811",
+                            "x": 0.5185000000000001,
+                            "y": 0.37333333333333335
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右前方的多边形盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到多边形盘子右侧边缘的正上方。接着落下爪夹靠近多边形盘子，接近多边形盘子后爪夹合拢抓取多边形盘子。抓紧多边形盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将多边形盘子放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "",
+            "frame": 54,
+            "progress": 0,
+            "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。",
+            "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：爪夹向爪夹右前方的多边形盘子移动，同时调整爪夹的角度使其垂直与桌面，并移动到多边形盘子右侧边缘的正上方。",
+            "time": 1.7851202438144331
+        },
+        {
+            "action_description": "爪夹向正前方移动，调整爪夹角度",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
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+                            "id": "bbox_1766562833862_1766563004666_npc5odynu",
+                            "width": 0.24699999999999997,
+                            "x": 0.2455,
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+                "bbox_1766562841059": {
+                    "instances": [
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+                            "width": 0.516,
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+                    "instances": [
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+                },
+                "point_1766562856406": {
+                    "instances": [
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+                            "y": 0.4666666666666667
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+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹右侧移动，同时调整爪夹的角度使其垂直于桌面，移动到多边形盘子右侧边缘正上方。接着落下爪夹靠近多边形盘子，接近多边形盘子后爪夹合拢抓取多边形盘子。抓紧多边形盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将多边形盘子放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "爪夹向正前方移动，移动到多边形盘子左侧正上方，方便后续移动抓取多边形盘子。",
+            "frame": 94,
+            "progress": 10,
+            "progress_explanation": "爪夹角度与桌面呈30度，水平上靠近了多边形盘子。方便后续移动到多边形盘子右侧边缘因此进度提升为10%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈30度，爪夹处于多边形盘子右侧边缘正上方。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：爪夹向爪夹右侧移动，同时调整爪夹的角度使其垂直于桌面，移动到多边形盘子右侧边缘正上方。",
+            "time": 3.137866
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动调整爪夹角度，并垂直下降",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
+                        {
+                            "height": 0.2986666666666667,
+                            "id": "bbox_1766562833862_1766563031336_3wyshuf7d",
+                            "width": 0.24400000000000005,
+                            "x": 0.24749999999999997,
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+                    "instances": [
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+                            "width": 0.519,
+                            "x": 0.4784999999999999,
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+                    "type": "bbox"
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+                "point_1766562856406": {
+                    "instances": [
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+                            "id": "point_1766562856406_1766563026910_lhxddku25",
+                            "x": 0.2895,
+                            "y": 0.572
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹合拢，抓取多边形盘子，抓紧多边形盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将多边形盘子放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "爪夹向爪夹右移动垂直下降靠近了盘子右侧边缘，方便爪夹抓取多边形盘子。",
+            "frame": 165,
+            "progress": 20,
+            "progress_explanation": "爪夹的角度接近垂直与桌面，爪夹靠近了盘子边缘。方便抓取盘子，因此进度提升为20%。",
+            "state_description": "爪夹张开，爪夹的角度接近垂直与桌面，爪夹靠近了多边形盘子右侧边缘。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：爪夹合拢，抓取多边形盘子",
+            "time": 5.491266
+        },
+        {
+            "action_description": "爪夹合拢",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
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+                "bbox_1766562841059": {
+                    "instances": [
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+                "point_1766562856406": {
+                    "instances": [
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+                            "x": 0.2875,
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+            },
+            "correction_plan": "抓紧多边形盘子垂直升高爪夹并向爪夹左前方的烤箱接近，水平到达烤箱口后将多边形盘子放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取，此时爪夹合拢，抓取到了多边形盘子。",
+            "frame": 206,
+            "progress": 40,
+            "progress_explanation": "爪夹合拢抓取到了目标盘子，因此进度提升为40%。",
+            "state_description": "爪夹合拢，爪夹角度垂直于桌面，抓取到多边形盘子。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：抓紧多边形盘子垂直升高爪夹并向爪夹左前方的烤箱接近",
+            "time": 6.8741923201030914
+        },
+        {
+            "action_description": "爪夹夹紧盘子，向爪夹左前方的烤箱口移动。",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
+                        {
+                            "height": 0.34,
+                            "id": "bbox_1766562833862_1766563095227_kpo8h7t63",
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+                    "instances": [
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+                            "id": "bbox_1766562841059_1766563103184_646aagqw7",
+                            "width": 0.507,
+                            "x": 0.48949999999999994,
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+                    "type": "bbox"
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+                "point_1766562856406": {
+                    "instances": [
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+                            "id": "point_1766562856406_1766563090872_zsjh2g2ie",
+                            "x": 0.5495,
+                            "y": 0.48000000000000004
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+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹左前方的烤箱口接近，放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "多边形盘子靠近了烤箱口的正前方，方便放入烤箱里。",
+            "frame": 280,
+            "progress": 60,
+            "progress_explanation": "爪夹合拢夹紧多边形盘子，多边形盘子被移动到靠近烤箱口的正前方，方便放入烤箱里。因此进度提升为60%。",
+            "state_description": "爪夹合拢夹紧盘子，靠近烤箱口的正前方，准备放入烤箱里。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：继续向爪夹左前方的烤箱口接近，放入烤箱里，松开爪夹，使多边形盘子落入烤箱。",
+            "time": 9.337066
+        },
+        {
+            "action_description": "爪夹夹紧盘子，向爪夹左前方的烤箱口里移动。",
+            "annotations": {
+                "bbox_1766562833862": {
+                    "instances": [
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+                            "height": 0.2826666666666667,
+                            "id": "bbox_1766562833862_1766563117333_hs6q4tvdx",
+                            "width": 0.21900000000000003,
+                            "x": 0.7575000000000001,
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+                    "type": "bbox"
+                },
+                "bbox_1766562841059": {
+                    "instances": [
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+                            "width": 0.517,
+                            "x": 0.48050000000000004,
+                            "y": 0.0026666666666666948
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "继续向爪夹左侧烤箱里推动多边形盘子至完全进入烤箱里。松开爪夹，使多边形盘子落入烤箱。",
+            "error_success_analysis": "多边形盘子放入了烤箱口，方便落入烤箱里。",
+            "frame": 337,
+            "progress": 80,
+            "progress_explanation": "多边形盘子被移动烤箱里，因此进度提升为80%。",
+            "state_description": "爪夹合拢夹紧盘子，盘子放入烤箱口里。\n为完成���取多边形盘子使多边形盘子落入烤箱的任务应当：继续向爪夹左侧烤箱里推动多边形盘子至完全进入烤箱里。松开爪夹，使多边形盘子落入烤箱。",
+            "time": 11.233333333333333
+        },
+        {
+            "action_description": "爪夹向爪夹右方移动，爪夹张开",
+            "annotations": {
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+                    "instances": [
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+                            "height": 0.272,
+                            "id": "bbox_1766562833862_1766563145847_8vz7juuxe",
+                            "width": 0.23200000000000004,
+                            "x": 0.7455,
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+                "bbox_1766562841059": {
+                    "instances": [
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+                "point_1766562850242": {
+                    "instances": [
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+                            "id": "point_1766562850242_1766563137055_vyakid7db",
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+                },
+                "point_1766562856406": {
+                    "instances": [
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+                            "x": 0.6465,
+                            "y": 0.38266666666666665
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹左侧烤箱里推动多边形盘子至完全进入烤箱里。使多边形盘子落入烤箱。",
+            "error_success_analysis": "多边形盘子一小部还在外，需要继续推动多边形盘子。",
+            "frame": 398,
+            "progress": 95,
+            "progress_explanation": "爪夹水平上远离了多边形盘子。多边形盘子一小部分在外因此进度提升95%。",
+            "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平上远离了盘子。\n为完成抓取多边形盘子使多边形盘子落入烤箱的任务应当：继续向爪夹左侧烤箱里推动多边形盘子至完全进入烤箱里。使多边形盘子落入烤箱。",
+            "time": 13.278533
+        },
+        {
+            "action_description": "爪夹向爪夹左前方烤箱里的盘子移动，合拢爪夹",
+            "annotations": {
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+                            "id": "bbox_1766562833862_1766563177439_nrj3b790v",
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+                "bbox_1766562841059": {
+                    "instances": [
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+                            "width": 0.5170000000000001,
+                            "x": 0.4805,
+                            "y": 0.00133333333333339
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "多边形盘子完全落入烤箱里，任务完成。",
+            "frame": 511,
+            "progress": 100,
+            "progress_explanation": "多边形盘子完全落入烤箱里，任务完成因此进度提升为100%。",
+            "state_description": "爪夹合拢，多边形盘子完全落入烤箱里。\n完成了抓取多边形盘子使多边形盘子落入烤箱的任务目标。",
+            "time": 17.032611387113402
+        }
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+    "tags": [
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+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766562833862",
+            "name": "多边形盘子"
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+        {
+            "color": "#FF9800",
+            "id": "bbox_1766562841059",
+            "name": "烤箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766562850242",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766562856406",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-154209-mix-plate-lettuce-microwave/annotations/chunk-000/observation.images.front/episode_000016.json

@@ -0,0 +1,928 @@
+{
+    "task_description": "抓起装有生菜的盘子并放入微波炉:\n开始移动:0%\n爪夹靠近装有生菜的盘子:20%\n爪夹抓取装有生菜的盘子:40%\n爪夹抓住装有生菜的盘子接近微波炉:60%\n爪夹将装有生菜的盘子放入微波炉:80%\n爪夹松开，装有生菜的盘子在微波炉内:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹为打开状态，准备开始移动。\n",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+                            "height": 0.2533333333333332,
+                            "id": "bbox_1766115498155_1766115554987_lx7i0spac",
+                            "width": 0.23000001403808676,
+                            "x": 0.11481818327747699,
+                            "y": 0.29535227457682295
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766115513186": {
+                    "instances": [
+                        {
+                            "height": 0.7946666666666667,
+                            "id": "bbox_1766115513186_1766115634723_3yz7da3ws",
+                            "width": 0.5170000315551777,
+                            "x": 0.4818182056773807,
+                            "y": 0.15801894124348959
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766115520626": {
+                    "instances": [
+                        {
+                            "id": "point_1766115520626_1766115583162_ifq01f9kb",
+                            "x": 0.408818201221814,
+                            "y": 0.4006856079101562
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766115528858": {
+                    "instances": [
+                        {
+                            "id": "point_1766115528858_1766115591435_99jymvvjr",
+                            "x": 0.50881820732533,
+                            "y": 0.3740189412434896
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达装有生菜盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 62,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰装有生菜的盘子。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，准备抓取装有生菜的盘子。\n",
+            "time": 2.05840206185567
+        },
+        {
+            "action_description": "爪夹向爪夹方向的上方略微移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+                    "instances": [
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+                "point_1766115520626": {
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+                        {
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+                    "instances": [
+                        {
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右方移动，到达装有生菜盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉的正上方。下降将装有生菜的盘子放入微波炉，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的上方移动，并调整爪夹角度，使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 104,
+            "progress": 10,
+            "progress_explanation": "当前开始调整夹角度，方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角。为完成抓起装有生菜的盘子，使其放入微波炉内的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动直至装有生菜盘子的正上方。",
+            "time": 3.457577319587629
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+                    "instances": [
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+                    "instances": [
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+                    "instances": [
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平距离上成功接近装有生菜的盘子，并使爪夫角度向垂直于桌面调整，方便抓取。\n",
+            "frame": 138,
+            "progress": 15,
+            "progress_explanation": "较上一步相比前爪夹在水平方向上接近装有生菜的盘子并调整夹角度向桌面垂直，方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹张开，与装有生菜的盘子的水平距离略微缩短。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右后方移动直至装有生菜的盘子正上方。",
+            "time": 4.587680412371134
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
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+                    "instances": [
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+                "point_1766115520626": {
+                    "instances": [
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+                    "instances": [
+                        {
+                            "id": "point_1766115528858_1766115836570_k7lplisnj",
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹本应该向爪夹方向右后方移动，但是爪夹向爪夹的右前方移动，在水平距离上远离了装有生菜的盘子。",
+            "frame": 182,
+            "progress": -5,
+            "progress_explanation": "爪夹本应该向爪夹方向右后方移动，但是爪夹向爪夹的右前方移动，爪夹距装有生菜的盘子的水平距离增加，因此进度下降至-5%。",
+            "state_description": "当前爪夹张开，与装有生菜的盘子的水平距离远离。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:继续向爪夹方向的右后方移动直至装有生菜的盘子正上方。",
+            "time": 6.066666666666666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧移动后下降。",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+                            "id": "bbox_1766115498155_1766115868914_bxi09l4qq",
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+                    "instances": [
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+                            "x": 0.35750000000000004,
+                            "y": 0.7346666666666667
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抓夹上升，向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到装有生菜的盘子。",
+            "frame": 218,
+            "progress": -10,
+            "progress_explanation": "爪夹在错误地点下降，触碰装有面包片的盘子而不是装有生菜的盘子，因此进度降低到-10%。",
+            "state_description": "当前爪夹张开，垂直于桌面，爪夹在装有面包的盘子边缘下降爪夹左右两侧触碰装有面包的盘子。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:爪夹上升，爪夹向爪夹方向的右后方移动直至装有生菜的盘子正上方。",
+            "time": 7.278402061855671
+        },
+        {
+            "action_description": "爪夹触碰到装有面包片的盘子后，向爪夹方向的后方移动，进行抓取。",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+                    "instances": [
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+                    ],
+                    "type": "bbox"
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+            },
+            "correction_plan": "爪夹打开并上升，向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。",
+            "frame": 244,
+            "progress": -20,
+            "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近装有生菜的盘子，因此进度下降为-20%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，在装有面包片的盘子的后方进行空抓动作。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:爪夹松开并抬起，爪夹向爪夹的右后方移动直至装有生菜的盘子正上方。并重新下降抓取装有生菜的盘子。",
+            "time": 8.139432989690722
+        },
+        {
+            "action_description": "爪夹张开，爪夹向爪夹方向的后方移动。",
+            "annotations": {
+                "bbox_1766115498155": {
+                    "instances": [
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+            },
+            "correction_plan": "向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹夹取装有面包片的盘子，并未成功，后爪夹向爪夹方向的后方移动，在水平距离上接近了装有生菜的盘子。",
+            "frame": 254,
+            "progress": 15,
+            "progress_explanation": "爪夹没有成功夹取装有面包片的盘子后，爪夹向爪夹方向的后方移动，在水平距离上接近了装有生菜的盘子，因此进度提升至15%。",
+            "state_description": "当前爪夹张开，垂直于桌面，爪夹没有成功夹取装有面包片的盘子后，爪夹向爪夹方向的后方移动。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:继续向爪夹方向的右后方移动直至装有生菜的盘子正上方。",
+            "time": 8.466666666666667
+        },
+        {
+            "action_description": "爪夹向爪夹方��的右后方移动并下降。\n",
+            "annotations": {
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+                    "instances": [
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+                    "type": "point"
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+            },
+            "correction_plan": "下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右后方移动至装有生菜的盘子正上方，已调整瓜夹角度为垂直，方便机取装有生菜的盘子。",
+            "frame": 275,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于装有生菜的盘子正上方，已接近装有生菜的盘子，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于装有生菜的盘子的正上万。为完成抓起装有生菜的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 9.161907216494845
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，试图抓取装有生菜的盘子。",
+            "annotations": {
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+                    "type": "bbox"
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+            },
+            "correction_plan": "下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹移动至装有生菜的盘子正上方，已调整瓜夹角度为垂直，方便机取装有生菜的盘子。",
+            "frame": 291,
+            "progress": 35,
+            "progress_explanation": "爪夹当前爪夹尝试抓取装有生菜的盘子，因此进度提升至35%。",
+            "state_description": "当前爪夹张开，垂直于桌面，爪夹左接触装有生菜的盘子。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:竖直下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 9.700051546391753
+        },
+        {
+            "action_description": "爪夹上升，没有抓取到装有生菜的盘子。",
+            "annotations": {
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+            "correction_plan": "爪夹重新调整，向爪夹方向的右后方移动，到达装有生菜的盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "没有抓取到装有生菜的盘子，爪夹上升时反而移动了装有生菜的盘子。",
+            "frame": 316,
+            "progress": 18,
+            "progress_explanation": "没有抓取到装有生菜的盘子，爪夹上升时反而移动了装有生菜的盘子，爪夹需要再次调整爪夹位置，因此进度减退至18%。",
+            "state_description": "当前爪夹打开，垂直于桌面，在装有生菜的盘子的正上方。为完成抓起装有生菜的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 10.533333333333333
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
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+            "correction_plan": "下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右后方移动至装有生菜的盘子正上方，已调整瓜夹角度为垂直于桌面，方便机取装有生菜的盘子。",
+            "frame": 348,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于装有生菜的盘子正上方，已接近装有生菜的盘子，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，爪夹处于装有生菜的盘子的正上万。为完成抓起装有生菜的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 11.592118668207775
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，抓取到装有生菜的盘子。",
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+            "correction_plan": "向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹在装有生菜的盘子的正上方竖直下降，成功抓取到装有生菜的盘子。",
+            "frame": 391,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到装有生菜的盘子，因此进度提升至40%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，装有生菜的盘子已被爪夹抓取。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:爪夹竖直上升，然后向爪夹方向的左前方移动。",
+            "time": 13.018201232167744
+        },
+        {
+            "action_description": "爪夹上升，抓住装有生菜的盘子，向爪夹方向的左前方移动。",
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+            },
+            "correction_plan": "向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧装有生菜的盘子向爪夹方向的左前方移动，成功在水平方向上接近微波炉。",
+            "frame": 452,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住装有生菜的盘子，并在水平方向上逐渐接近微波炉，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住装有生菜的盘子，略微缩短了和微波炉的水平距离。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:向爪夹方向的左���方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 15.066666666666666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其装有生菜的盘子悬空于桌面。",
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+            "correction_plan": "向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧装有生菜的盘子向爪夹方向的左前方移动，在水平方向上更接近微波炉。",
+            "frame": 478,
+            "progress": 60,
+            "progress_explanation": "较上一步相比并爪夹在水平方向上逐渐接近微波炉，因此进度提升为60%。",
+            "state_description": "当前爪夹合拢，悬空于桌面，抓住装有生菜的盘子，缩短了和微波炉的水平距离。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:向爪夹方向的左前方移动，直至装有生菜的盘子处于微波炉正上方。",
+            "time": 15.939774330042315
+        },
+        {
+            "action_description": "爪夹略微下降，且爪夹向爪夹方向的左方移动，并调整爪夹角度，使其装有生菜的盘子悬空于桌面。",
+            "annotations": {
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+            },
+            "correction_plan": "向爪夹方向的左方移动，直至装有生菜的盘子放入微波炉正上方。下降将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧装有生菜的盘子向爪夹方向的左方移动，在水平方向上更接近微波炉。",
+            "frame": 522,
+            "progress": 70,
+            "progress_explanation": "较上一步相比并爪夹在水平方向上逐渐接近微波炉，因此进度提升至70%。",
+            "state_description": "当前爪夹合拢，悬空于桌面，爪夹抓住装有生菜的盘子，更加缩短了和微波炉的水平距离。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:向爪夹方向的左方移动，直至将装有生菜的盘子放入微波炉。",
+            "time": 17.412270803949223
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+        {
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+            "correction_plan": "将装有生菜的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左方移动后，处于微波炉内正上方。",
+            "frame": 554,
+            "progress": 80,
+            "progress_explanation": "爪夹向爪夹方向的左方移动后，处于微波炉内正上方，因此进度提升至:80%",
+            "state_description": "当前爪夹合拢，悬空于桌面，抓住装有生菜的盘子向爪夹方向的左方移动后，处于微波炉内正上方。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:爪夹张开。",
+            "time": 18.45345930612839
+        },
+        {
+            "action_description": "爪夹松开，装有生菜的盘子在微波炉内。",
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+            "correction_plan": "爪夹应推动装有生菜的盘子向爪夹方向的左方移动，将装有生菜的盘子完全放进微波炉内。",
+            "error_success_analysis": "爪夹松开，装有生菜的盘子成功放进微波炉内。",
+            "frame": 562,
+            "progress": 95,
+            "progress_explanation": "装有生菜的盘子���微波炉内，但有一部分搭在在了烤盘边，因此进度提升至95%。",
+            "state_description": "当前爪夹张开，装有生菜的盘子在微波炉内，但有一部分搭在在了烤盘边。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:爪夹合拢，爪夹向爪夹方向的左侧移动，向左推动装有生菜的盘子。",
+            "time": 18.749438706195555
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右侧移动后，又向爪夹的左侧移动。",
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+            "correction_plan": "爪夹应推动装有生菜的盘子向爪夹方向的左方移动，将装有生菜的盘子完全放进微波炉内。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，向左推动装有生菜的盘子，调整装有盛菜的盘子完整放入微波炉内。",
+            "frame": 645,
+            "progress": 97,
+            "progress_explanation": "装有生菜的盘子在微波炉内，但有一部分搭在在了烤盘边，爪夹向爪夹方向的左侧移动，向左推动装有生菜的盘子，因此进度提升至97%。",
+            "state_description": "当前爪夹合拢，爪夹接触装有生菜的盘子。为完成抓起装有生菜的盘子使其放入微波炉中的任务应当:爪夹合拢，爪夹向爪夹方向的左侧移动，向左推动装有生菜的盘子。",
+            "time": 21.4939749613638
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧移动，推动装有生菜的盘子。",
+            "correction_plan": "",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，向左推动装有生菜的盘子，调整装有盛菜的盘子完整放入微波炉内。",
+            "frame": 703,
+            "progress": 100,
+            "progress_explanation": "装有生菜的盘子完整放在微波炉内，因此进度提升至100&。",
+            "state_description": "当前爪夹合拢，装有生菜的盘子完整的在微波炉内。已完成抓起装有生菜的盘子并放入微波炉的任务。",
+            "time": 23.422731958762885
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766115498155",
+            "name": "装有生菜的盘子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766115513186",
+            "name": "微波炉"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766115520626",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766115528858",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-102626-bad-plate-eggplant-microwave/annotations/chunk-000/observation.images.front/episode_000004.json

@@ -0,0 +1,714 @@
+{
+    "task_description": "抓起装有茄子的盘子并放入微波炉:\n开始移动:0%\n爪夹靠近装有茄子的盘子:20%\n爪夹抓取装有茄子的盘子:40%\n爪夹抓住装有茄子的盘子接近微波炉:60%\n爪夹将装有茄子的盘子放入微波炉:80%\n爪夹松开，装有茄子的盘子在微波炉内:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹为打开状态，准备开始移动。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.2746666666666665,
+                            "id": "bbox_1766214028520_1766214082992_vq4fiqsoi",
+                            "width": 0.24699999999999997,
+                            "x": 0.2125,
+                            "y": 0.6986666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8213333333333334,
+                            "id": "bbox_1766214029312_1766214101672_1hw6al45n",
+                            "width": 0.4360000000000001,
+                            "x": 0.5635,
+                            "y": 0.0026666666666666653
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766214117272_hm450rswh",
+                            "x": 0.3915,
+                            "y": 0.392
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766214121089_axcwmn18d",
+                            "x": 0.49350000000000005,
+                            "y": 0.384
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达装有茄子盘子的正上方后下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后侧移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 41,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰装有茄子的盘子。为完成抓起装有茄子的盘子使其放进微波炉中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右方移动，准备抓取装有茄子的盘子。",
+            "time": 1.3501374396907218
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.2733333333333333,
+                            "id": "bbox_1766214028520_1766215439457_v9iize5op",
+                            "width": 0.24800000000000005,
+                            "x": 0.2125,
+                            "y": 0.7
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.824,
+                            "id": "bbox_1766214029312_1766215452465_bcoe4m654",
+                            "width": 0.43999999999999995,
+                            "x": 0.5585,
+                            "y": -0.001333333333333331
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215463649_neriivczq",
+                            "x": 0.3765,
+                            "y": 0.452
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215467209_1elx6bztx",
+                            "x": 0.49350000000000005,
+                            "y": 0.43733333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右前方移动，到达装有茄子盘子的正上方后下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉的正上方。下降将装有茄子的盘子放入微波炉，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 72,
+            "progress": 10,
+            "progress_explanation": "当前开始调整夹角度，方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角。为完成抓起装有茄子的盘子，使其放入微波炉内的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动直至装有茄子盘子的正上方。",
+            "time": 2.392817838659794
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.26666666666666666,
+                            "id": "bbox_1766214028520_1766215485537_qmcj97fyj",
+                            "width": 0.248,
+                            "x": 0.2105,
+                            "y": 0.7013333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8253333333333334,
+                            "id": "bbox_1766214029312_1766215502657_rghlese5h",
+                            "width": 0.43900000000000017,
+                            "x": 0.5605,
+                            "y": 0
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215478913_ygz4ka5vr",
+                            "x": 0.23149999999999998,
+                            "y": 0.6880000000000001
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215476033_qkryd1y37",
+                            "x": 0.3375,
+                            "y": 0.716
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹方向的右前方移动，到达装有茄子的盘子的正上方后下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平距离上成功接近装有茄子的盘子，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 120,
+            "progress": 15,
+            "progress_explanation": "爪夹在水平方向上接近装有茄子的盘子并调整夹角度向桌面垂直，方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹打开，垂直于桌面，与装有茄子的盘子的水平距离略微缩短。为完成抓起装有茄子的盘子使其放进微波炉中的任务应当:继续调整爪夹角度直到垂直于桌面，继续句爪夹方向的右方移动直至装有茄子的盘子正上方。",
+            "time": 3.9969415293814436
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动并下降。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.2786666666666667,
+                            "id": "bbox_1766214028520_1766215526161_zdy3j2pdo",
+                            "width": 0.24599999999999994,
+                            "x": 0.21350000000000002,
+                            "y": 0.6973333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8200000000000001,
+                            "id": "bbox_1766214029312_1766215540481_lusds2r8j",
+                            "width": 0.44200000000000006,
+                            "x": 0.5575,
+                            "y": 0.0026666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215519617_x5eljuz20",
+                            "x": 0.2725,
+                            "y": 0.8
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至装有茄子的盘子正上方，已调整瓜夹角度为垂直于桌面，方便抓取装有茄子的盘子。",
+            "frame": 167,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于装有茄子的盘子正上方，已接近装有茄子的盘子，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于装有茄子的盘子的正上万。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。",
+            "time": 5.574329825257733
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，抓取到装有茄子的盘子。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.2800000000000001,
+                            "id": "bbox_1766214028520_1766215563185_y6jzozrz4",
+                            "width": 0.25599999999999995,
+                            "x": 0.20250000000000004,
+                            "y": 0.6893333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8226666666666667,
+                            "id": "bbox_1766214029312_1766215577705_6bct5z7lq",
+                            "width": 0.43600000000000005,
+                            "x": 0.5605,
+                            "y": 0
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215556073_ygdf0gu9z",
+                            "x": 0.23850000000000002,
+                            "y": 0.7933333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215552761_t0y45z9z8",
+                            "x": 0.2515,
+                            "y": 0.8013333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹在装有茄子的盘子的正上方竖直下降，成功抓取到装有茄子的盘子。",
+            "frame": 207,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到装有茄子的盘子，因此进度提升至40%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，装有茄子的盘子已被爪夹抓取。为完成抓起装有茄子的盘子使其放入微波炉中的任务应当:爪夹竖直上升，然后向爪夹方向的左后方移动。",
+            "time": 6.884364172680413
+        },
+        {
+            "action_description": "爪夹上升，抓住装有茄子的盘子，向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.3546666666666666,
+                            "id": "bbox_1766214028520_1766215626001_ewocd9cwb",
+                            "width": 0.24900000000000003,
+                            "x": 0.3255,
+                            "y": 0.5746666666666668
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.828,
+                            "id": "bbox_1766214029312_1766215641104_fnxl3iep9",
+                            "width": 0.4379999999999999,
+                            "x": 0.5605,
+                            "y": 0
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215613521_zy02i61lk",
+                            "x": 0.3135,
+                            "y": 0.7186666666666667
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+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215616521_vtcpu0qro",
+                            "x": 0.3345,
+                            "y": 0.7146666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧装有茄子的盘子向爪夹方向的左后方移动，成功在水平方向上接近微波炉。",
+            "frame": 266,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住装有茄子的盘子，并在水平方向上逐渐接近微波炉，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住装有茄子的盘子，略微缩短了和微波炉的水平距离。为完成抓起装有茄子的盘子使其放入微波炉中的任务应当:爪夹向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。",
+            "time": 8.862783391237114
+        },
+        {
+            "action_description": "爪夹松开,装有茄子的盘子跌落至桌面。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.34933333333333333,
+                            "id": "bbox_1766214028520_1766215674337_9xfzyh9vd",
+                            "width": 0.255,
+                            "x": 0.3055,
+                            "y": 0.6013333333333333
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8253333333333334,
+                            "id": "bbox_1766214029312_1766215688865_wk3j7bke4",
+                            "width": 0.43900000000000006,
+                            "x": 0.5605,
+                            "y": 0.0013333333333333333
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215665273_6ko2kv3oi",
+                            "x": 0.2945,
+                            "y": 0.7213333333333334
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+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215667529_773nmj71z",
+                            "x": 0.36550000000000005,
+                            "y": 0.7093333333333334
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹在向爪夹方向的左侧移动时，爪夹打开，导致装有茄子的盘子跌落至桌面。",
+            "frame": 282,
+            "progress": 15,
+            "progress_explanation": "爪夹打开，装有茄子的盘子跌落至桌面，因此进度下降至15%。",
+            "state_description": "当前状态为爪夹打开，与水平呈60度悬空于桌面，装有茄子的盘子已掉落至桌面。为完成抓起装有茄子的盘子使其放入微波炉中的任务应当:调整爪夹至垂直于桌面，竖直下降，抓取装有茄子的盘子。",
+            "time": 9.397491288144328
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧略微移动后下降。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.34933333333333333,
+                            "id": "bbox_1766214028520_1766215719729_l6k5jeblm",
+                            "width": 0.257,
+                            "x": 0.3035,
+                            "y": 0.604
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
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+                            "width": 0.43800000000000006,
+                            "x": 0.5615,
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+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
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+                            "id": "point_1766214030312_1766215711369_fnb813qam",
+                            "x": 0.4955,
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+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215708145_kpdwe2zra",
+                            "x": 0.5765,
+                            "y": 0.68
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧略微移动至装有茄子的盘子正上方，已调整瓜夹角度为垂直于桌面，方便抓取装有茄子的盘子。",
+            "frame": 309,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于装有茄子的盘子正上方，已接近装有茄子的盘子，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于装有茄子的盘子的正上万。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。",
+            "time": 10.306494712886598
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，爪夹右从盘子上方掠过。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.36266666666666675,
+                            "id": "bbox_1766214028520_1766215750961_hlxxsdkhh",
+                            "width": 0.23500000000000001,
+                            "x": 0.2635,
+                            "y": 0.6066666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8213333333333334,
+                            "id": "bbox_1766214029312_1766215770801_al4msoxn7",
+                            "width": 0.43800000000000006,
+                            "x": 0.5615,
+                            "y": 0.0013333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹打开并上升，调整爪夹位置，重新下降抓取装有茄子的盘子，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹下降距离不够，导致爪夹下降合拢时，爪夹从装有茄子的盘子的上方掠过，没有夹住装有茄子的盘子。",
+            "frame": 364,
+            "progress": 13,
+            "progress_explanation": "爪夹合拢，爪夹没有夹住装有茄子的盘子，因此进度下降至13%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，处于装有茄子的盘子的正上万。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:爪夹打开并上升，调整爪夹位置，重新下降抓取装有茄子的盘子。",
+            "time": 12.124501562371135
+        },
+        {
+            "action_description": "爪夹先上升，后向爪夹方向的左侧略微移动后下降。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
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+                            "height": 0.36399999999999993,
+                            "id": "bbox_1766214028520_1766215813217_xyj4k8vkw",
+                            "width": 0.23699999999999996,
+                            "x": 0.26250000000000007,
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+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8213333333333335,
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+                            "width": 0.43999999999999984,
+                            "x": 0.5585000000000001,
+                            "y": 0.0026666666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215804673_i38ou4mby",
+                            "x": 0.45949999999999996,
+                            "y": 0.6986666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766214030744": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030744_1766215781281_pibbmmyno",
+                            "x": 0.5155000000000001,
+                            "y": 0.6773333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹先上升，后向爪夹方向的左侧略微移动至装有茄子的盘子正上方，已调整瓜夹角度为垂直于桌面，方便抓取装有茄子的盘子。",
+            "frame": 389,
+            "progress": 15,
+            "progress_explanation": "当前爪夹已悬空于装有茄子的盘子正上方，已接近装有茄子的盘子，因此进度提升为15%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于装有茄子的盘子的正上万。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:竖直下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。",
+            "time": 12.98003419742268
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左后方移动下降抓取胡萝卜。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.36533333333333323,
+                            "id": "bbox_1766214028520_1766374415287_o4pbujc6a",
+                            "width": 0.23499999999999996,
+                            "x": 0.26450000000000007,
+                            "y": 0.5973333333333334
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+                    ],
+                    "type": "bbox"
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+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8213333333333334,
+                            "id": "bbox_1766214029312_1766374431511_n7k58ww8x",
+                            "width": 0.43900000000000006,
+                            "x": 0.5584999999999999,
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹张开，胡萝卜掉落，然后向爪夹方向的右前方移动直至装有茄子的盘子正上方，后下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取胡萝卜。",
+            "frame": 415,
+            "progress": -30,
+            "progress_explanation": "当前爪夹抓取到胡萝卜，抓取错误，爪夹还需要多一次张开爪夹的动作才能接近装有茄子的盘子，因此进度减退至-30%。",
+            "state_description": "当前爪夹合拢，爪夹垂直于桌面，爪夹抓取到胡萝卜。为完��抓起装有茄子的盘子使其放入微波炉中的任务应当:爪夹张开，胡萝卜掉落，然后向爪夹方向的右前方移动直至装有茄子的盘子正上方。",
+            "time": 13.835566832474226
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧略微移动。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.36533333333333323,
+                            "id": "bbox_1766214028520_1766215882289_ncm2fg7ow",
+                            "width": 0.23400000000000004,
+                            "x": 0.2645,
+                            "y": 0.5973333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8226666666666667,
+                            "id": "bbox_1766214029312_1766215862265_ntsbp8av4",
+                            "width": 0.43899999999999995,
+                            "x": 0.5585,
+                            "y": 0.0026666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹打开，爪夹上升，向爪夹方向的右前方移动，直至装有茄子盘子的正上方。爪夹下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。",
+            "frame": 471,
+            "progress": -20,
+            "progress_explanation": "与上一阶段相比，爪夹空抓，爪夹仅需要多一次张开爪夹的动作才能接近装有茄子的盘子，因此进度上升至-20%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，垂直下降己经进行空抓动作，向爪夹方向的左侧略微移动，接触桌面。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:爪夹打开，爪夹打开上升，向爪夹方向的右前方移动，直至装有茄子盘子的正上方。",
+            "time": 15.707044471649484
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动并略微下降",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.3706666666666667,
+                            "id": "bbox_1766214028520_1766215916841_eg5vznghu",
+                            "width": 0.23700000000000002,
+                            "x": 0.2625,
+                            "y": 0.596
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766214029312_1766215944865_qob6drh8r",
+                            "width": 0.438,
+                            "x": 0.5595,
+                            "y": 0.0026666666666666666
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766214030312": {
+                    "instances": [
+                        {
+                            "id": "point_1766214030312_1766215895153_ii5k8w6mq",
+                            "x": 0.4875,
+                            "y": 0.7546666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度直到垂直于桌面，继续句爪夹方向的右方移动直至装有茄子的盘子正上方。竖直下降，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹打开并上升，爪夹向爪夹方向的右前方移动且略微下降，直至装有茄子盘子的正上方。",
+            "frame": 507,
+            "progress": 15,
+            "progress_explanation": "当前爪夹已悬空于装有茄子的盘子正上方，已接近装有茄子的盘子，因此进度提升为15%。",
+            "state_description": "当前爪夹打开，与水平呈60度悬空于桌面，处于装有茄子的盘子的左上万。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动直至装有茄子的盘子正上方。",
+            "time": 16.910137239690723
+        },
+        {
+            "action_description": "爪夹略微下降后合拢。",
+            "annotations": {
+                "bbox_1766214028520": {
+                    "instances": [
+                        {
+                            "height": 0.368,
+                            "id": "bbox_1766214028520_1766215961185_spc49x2sr",
+                            "width": 0.23799999999999993,
+                            "x": 0.2635,
+                            "y": 0.5973333333333334
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766214029312": {
+                    "instances": [
+                        {
+                            "height": 0.8266666666666667,
+                            "id": "bbox_1766214029312_1766215975601_p2afnljk8",
+                            "width": 0.43999999999999995,
+                            "x": 0.5585,
+                            "y": 0.0026666666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹打开并上升，继续向爪夹方向的右方移动直至装有茄子的盘子正上方。，重新下降抓取装有茄子的盘子，抓取装有茄子的盘子后竖直上升，向爪夹方向的左后方移动，直至装有茄子的盘子处于微波炉正上方。下降将装有茄子的盘子放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。",
+            "frame": 539,
+            "progress": -20,
+            "progress_explanation": "与上一阶段相比，爪夹空抓，爪夹仅需要多一次张开爪夹的动作才能接近装有茄子的盘子，因此进度下降至-20%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，垂直下降己经进行空抓动作，向爪夹方向的左侧略微移动，接触桌面。为完成抓起装有茄子的盘子使其放入微波炉内的任务应当:爪夹打开上升，向爪夹方向的右前方移动，直至装有茄子盘子的正上方。",
+            "time": 17.95281763865979
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766214028520",
+            "name": "装有茄子的盘子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766214029312",
+            "name": "微波炉"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766214030312",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766214030744",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-105859-good-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json

@@ -0,0 +1,570 @@
+{
+    "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱内中:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹为打开状态，准备开始移动。",
+            "annotations": {
+                "bbox_1766218738706": {
+                    "instances": [
+                        {
+                            "height": 0.17466666666666672,
+                            "id": "bbox_1766218738706_1766218784794_0wufus7rc",
+                            "width": 0.11100000000000003,
+                            "x": 0.2485,
+                            "y": 0.6613333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766218740361": {
+                    "instances": [
+                        {
+                            "height": 0.5253333333333334,
+                            "id": "bbox_1766218740361_1766218798786_7bnt4klm9",
+                            "width": 0.36899999999999994,
+                            "x": 0.5625,
+                            "y": 0.14533333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766218753994": {
+                    "instances": [
+                        {
+                            "id": "point_1766218753994_1766218812562_8eetngemk",
+                            "x": 0.3905,
+                            "y": 0.388
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766218754490": {
+                    "instances": [
+                        {
+                            "id": "point_1766218754490_1766218816354_7qr7icen6",
+                            "x": 0.49450000000000005,
+                            "y": 0.38
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后侧移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 48,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。为完成抓起三脚架使其放进快递箱中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右方移动，准备抓取三脚架。",
+            "time": 1.601426156185567
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766218738706": {
+                    "instances": [
+                        {
+                            "height": 0.17733333333333334,
+                            "id": "bbox_1766218738706_1766218834546_m63qodluc",
+                            "width": 0.11600000000000006,
+                            "x": 0.24549999999999997,
+                            "y": 0.6613333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766218740361": {
+                    "instances": [
+                        {
+                            "height": 0.5226666666666666,
+                            "id": "bbox_1766218740361_1766218847122_waznv47rl",
+                            "width": 0.367,
+                            "x": 0.5615,
+                            "y": 0.148
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766218753994": {
+                    "instances": [
+                        {
+                            "id": "point_1766218753994_1766542698237_osj9pack6",
+                            "x": 0.3395,
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+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766218754490": {
+                    "instances": [
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+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后侧移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 89,
+            "progress": 10,
+            "progress_explanation": "当前开始调整夹角度，方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角。为完成抓起三脚架，使其放入快递箱中的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右前方移动直至三脚架的正上方。",
+            "time": 2.972079110824742
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+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。",
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+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平距离上成功接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。",
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+            "progress": 15,
+            "progress_explanation": "爪夹在水平方向上接近三脚架并调整夹角度向桌面垂直，方便抓取，因此进度提升为15%。",
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+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方，已调整瓜夹角度为垂直于桌面，方便抓取三脚架。",
+            "frame": 137,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于三脚架的正上万。为完成抓起三脚架使其放入快递箱中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于快递箱正上方。",
+            "time": 4.5665121396907224
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+        {
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+            "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。",
+            "frame": 189,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，三脚架已被爪夹抓取。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹竖直上升，然后向爪夹方向的左后方移动。",
+            "time": 6.298809678571429
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+        {
+            "action_description": "爪夹上升，抓住三脚架，向爪夹方向的左侧略微移动。",
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架向爪夹方向的左后方移动，成功在水平方向上接近快递箱。",
+            "frame": 218,
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+            "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上逐渐接近快递箱，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架略微缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的左后方移动，直至三脚架处于快递箱正上方。",
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架，向爪夹方向的左后方移动，在水平方向上更接近快递箱。",
+            "frame": 239,
+            "progress": 60,
+            "progress_explanation": "较上一步相比爪夹在水平方向上逐渐接近快递箱，因此进度提升为60%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的左后方移动，直至三脚架处于快递箱正上方。",
+            "time": 7.979266768688293
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架，向爪夹方向的左后方移动，在水平方向上更接近快递箱。",
+            "frame": 270,
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+            "progress_explanation": "较上一步相比爪夹在水平方向上逐渐接近快递箱，因此进度提升为70%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架更加缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的左后方移动，直至三脚架处于快递箱正上方。",
+            "time": 8.990608686507937
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+            "correction_plan": "爪夹下降，将装三脚架放入微波炉内，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左方移动后，处于快递箱正上方。",
+            "frame": 330,
+            "progress": 80,
+            "progress_explanation": "爪夹向爪夹方向的左方移动后，处于快递箱正上方，因此进度提升至:80%",
+            "state_description": "当前爪夹合拢，悬空于桌面，抓住三脚架，处于微波炉内正上方。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹下降，将装三脚架放入微波炉内，爪夹张开。",
+            "time": 10.986203019072168
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+            "action_description": "爪夹松开，三脚架在微波炉。",
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+            "error_success_analysis": "爪夹抓住三脚架在快递箱正上方下降，打开爪夹，三脚架落入快递箱。",
+            "frame": 349,
+            "progress": 100,
+            "progress_explanation": "三脚架落在快递箱中，因此进度提升至100%。",
+            "state_description": "爪夹打开，三脚架落在快递箱中。已完成抓起三脚架并放入快递箱中的任务。",
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+    "bbox_targets": [
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+            "name": "三脚架"
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+        {
+            "color": "#FF9800",
+            "id": "bbox_1766218740361",
+            "name": "快递箱"
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+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766218753994",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766218754490",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-112003-mix-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,996 @@
+{
+    "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱中:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹为打开状态，准备开始移动。\n",
+            "annotations": {
+                "bbox_1766385458297": {
+                    "instances": [
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+                    ],
+                    "type": "bbox"
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+                "bbox_1766385458985": {
+                    "instances": [
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+                            "width": 0.368,
+                            "x": 0.0015,
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+                    "type": "bbox"
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+                    "instances": [
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+                    "type": "point"
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+                "point_1766385460481": {
+                    "instances": [
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+                            "x": 0.4505,
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后侧移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 47,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。为完成抓起三脚架使其放进快递箱中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左侧移动，准备抓取三脚架。",
+            "time": 1.5719244242268042
+        },
+        {
+            "action_description": "爪夹抬升向爪夹方向的右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
+                "bbox_1766385458297": {
+                    "instances": [
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+                            "id": "bbox_1766385458297_1766385580545_56tlmf521",
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+                            "x": 0.6885,
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+                    "type": "bbox"
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+                "bbox_1766385458985": {
+                    "instances": [
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+                            "id": "bbox_1766385458985_1766385563921_kqf8x3ouz",
+                            "width": 0.366,
+                            "x": 0.0025,
+                            "y": 0.36666666666666664
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766385459913": {
+                    "instances": [
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+                    "type": "point"
+                },
+                "point_1766385460481": {
+                    "instances": [
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+                            "y": 0.32266666666666666
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，并调整爪夹角度，使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 80,
+            "progress": 10,
+            "progress_explanation": "当前开始调整夹角度，方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角。为完成抓起三脚架，使其放入快递箱中的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的左侧移动直至三脚架的正上方。",
+            "time": 2.6666666666666665
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧移动，并调整爪夹角度，使其接近于垂直桌面。",
+            "annotations": {
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+                    "instances": [
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+                            "x": 0.7565000000000001,
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动至三脚架正上方，水平距离上成功接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 116,
+            "progress": 15,
+            "progress_explanation": "爪夹在水平方向上接近三脚架并调整夹角度向桌面垂直，方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹张开，垂直于桌面，爪夹与三脚架的水平距离略微缩短。为完成抓起三脚架，使其放入快递箱中的任务应当:继续向爪夹方向的左侧移动直至三脚架的正上方。",
+            "time": 3.875345230769231
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右侧移动后下降。",
+            "annotations": {
+                "bbox_1766385458297": {
+                    "instances": [
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+                            "height": 0.12266666666666672,
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+                            "width": 0.37,
+                            "x": 0.0005,
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+                            "x": 0.6425,
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+                "point_1766385460481": {
+                    "instances": [
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+                            "x": 0.6945,
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+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹上升，爪夹向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到三脚架。",
+            "frame": 148,
+            "progress": -10,
+            "progress_explanation": "爪夹在错误地点下降，触碰桌面而不是三脚架，因此进度降低到-10%。",
+            "state_description": "当前爪夹张开，垂直于桌面，爪夹在三脚架边缘下降，爪夹左右两侧触碰桌面。为完成抓起三脚架使其放进快递箱中的任务应当:爪夹上升，爪夹向爪夹方向的左侧移动直至三脚架正上方。",
+            "time": 4.932466
+        },
+        {
+            "action_description": "爪夹下降后接触桌面，进行抓取。",
+            "annotations": {
+                "bbox_1766385458985": {
+                    "instances": [
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+                            "id": "bbox_1766385458985_1766385702417_trcndrzn8",
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+                            "x": 0.001499999999999977,
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+                    "type": "bbox"
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+                            "x": 0.6865,
+                            "y": 0.43200000000000005
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹上升并打开，爪夹向抓夹方向的左后方移动，直至三脚架处于快递正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。",
+            "frame": 178,
+            "progress": -20,
+            "progress_explanation": "爪夹下降并合拢，没有抓取到三脚架，因此进度下降至5%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，在三脚架的右方进行空抓动作。为完成抓起三脚架使其放入快递箱中的任务:爪夹打开并上升，爪夹向抓夹方向的左后方移动，直至三脚架处于快递正上方。",
+            "time": 5.946591540197462
+        },
+        {
+            "action_description": "爪夹打开并上升，向抓夹方向的左后方移动。",
+            "annotations": {
+                "bbox_1766385458297": {
+                    "instances": [
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+            "correction_plan": "爪夹向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹张开，爪夹向爪夹方向的左后方移动，爪夹在水平方向距三脚架距离减短。",
+            "frame": 215,
+            "progress": 15,
+            "progress_explanation": "爪夹在水平方向上接近三脚架并调整夹角度向桌面垂直，方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹打开，垂直于桌面，爪夹与三脚架的水平距离略微缩短。为完成抓起三脚架，使其放入快递箱中的任务应当:继续向爪夹方向的左侧移动直至三脚架的正上方。",
+            "time": 7.16333345
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左侧移动并下降。",
+            "annotations": {
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+                    "instances": [
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+            "correction_plan": "爪夹下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方，已调整瓜夹角度为垂直于桌面，方便抓取三脚架。",
+            "frame": 248,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。",
+            "state_description": "当前爪夹打开，垂直于桌面，处于三脚架的正上万。为完成抓起三脚架使其放入快递箱中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
+            "time": 8.28161525515464
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，抓取到三脚架。",
+            "annotations": {
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+                    "type": "bbox",
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+            },
+            "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。下降将三脚架放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。",
+            "frame": 284,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，三脚架已被爪夹抓取。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹竖直上升，然后向爪夹方向的右前方移动。",
+            "time": 9.463196030412371
+        },
+        {
+            "action_description": "爪夹上升，抓住三脚架，向爪夹方向的右前略微移动。",
+            "annotations": {
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架向爪夹方向的右前方移动，成功在水平方向上接近快递箱。",
+            "frame": 309,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上逐渐接近快递箱，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架略微缩短了和快递箱的水平距离，。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "progress": 60,
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+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "progress": 15,
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+            "state_description": "当前爪夹打开，与桌面垂直，三脚架掉落，爪夹向爪夹的左侧移动。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至处于三脚架正上方。",
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+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方并下降，已经调整瓜夹角度为垂直于桌面，方便抓取三脚架。",
+            "frame": 442,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。",
+            "state_description": "当前状态爪夹打开，垂直于桌面，处于三脚架的正上方。为完成抓起三脚架使其放入快递箱中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。",
+            "frame": 469,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，三脚架已被爪夹抓取。为完成抓起三脚���使其放入快递箱中的任务应当:爪夹竖直上升，然后向爪夹方向的右前方移动。",
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架向爪夹方向的左边移动，成功在水平方向上接近快递箱。",
+            "frame": 492,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上逐渐接近快递箱，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架，略微缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "error_success_analysis": "爪夹��持合找，抓紧三脚架向爪夹方向的右前方移动，成功在水平方向上接近快递箱。",
+            "frame": 509,
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+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架缩短了和快递箱的水平距离，。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "error_success_analysis": "爪夹保持合找，抓紧三脚架，向爪夹方向的右前方移动，在水平方向上更接近快递箱。",
+            "frame": 526,
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+            "progress_explanation": "较上一步相比爪夹在水平方向上更接近快递箱，因此进度提升为70%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住三脚架，更加缩短了和快递箱的水平距离。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于快递箱正上方。",
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+            "error_success_analysis": "爪夹向爪夹方向的右侧移动后，处于快递箱正上方。",
+            "frame": 547,
+            "progress": 80,
+            "progress_explanation": "爪夹向爪夹方向的右侧移动后，处于快递箱正上方，因此进度提升至:80%",
+            "state_description": "当前爪夹合拢，悬空于桌面，抓住三脚架，处于快递箱正上方。为完成抓起三脚架使其放入快递箱中的任务应当:爪夹下降，将装三脚架放入微波炉内，爪夹张开。",
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+                            "width": 0.37,
+                            "x": -0.0005000000000000002,
+                            "y": 0.36800000000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766385460481": {
+                    "instances": [
+                        {
+                            "id": "point_1766385460481_1766542857204_meqwzkfnb",
+                            "x": 0.3075,
+                            "y": 0.52
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹抓住三脚架在快递箱正上方下降，打开爪夹，三脚架落入快递箱。",
+            "frame": 567,
+            "progress": 100,
+            "progress_explanation": "三脚架落在快递箱中，因此进度提升至100%。",
+            "state_description": "爪夹打开，三脚架落在快递箱中。已完成抓起三脚架并放入快递箱中的任务。",
+            "time": 18.91584223247423
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766385458297",
+            "name": "三脚架"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766385458985",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766385459913",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766385460481",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-164208-bad-tripof-plate/annotations/chunk-000/observation.images.front/episode_000000.json

@@ -0,0 +1,452 @@
+{
+    "task_description": "抓起三脚架并将其放入盘子里:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近盘子:60%\n爪夹将三脚架放入盘子:80%\n爪夹松开，三脚架在盘子中:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，爪夹准备开始移动。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.17733333333333334,
+                            "id": "bbox_1766645153638_1766647426755_9bo15fbew",
+                            "width": 0.09399999999999994,
+                            "x": 0.3285,
+                            "y": 0.6266666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23600000000000002,
+                            "id": "bbox_1766645154286_1766647445363_vvxlg5ubm",
+                            "width": 0.198,
+                            "x": 0.3885,
+                            "y": 0.2866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647357747_j9peohc33",
+                            "x": 0.3665,
+                            "y": 0.392
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766645155846": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155846_1766647419083_pspwof96j",
+                            "x": 0.4715,
+                            "y": 0.39066666666666666
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 49,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放进盘子中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右前方移动直至三脚架的正上方。",
+            "time": 1.6301587301587301
+        },
+        {
+            "action_description": "爪夹上升，向爪夹方向的右前方移动，并调整爪夹角度，使其垂直于桌面。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766645153638_1766647467283_jxesywo4l",
+                            "x": 0.3285,
+                            "y": 0.628,
+                            "width": 0.09299999999999997,
+                            "height": 0.17600000000000005
+                        }
+                    ]
+                },
+                "bbox_1766645154286": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766645154286_1766647458883_w5ko41hrt",
+                            "x": 0.3905,
+                            "y": 0.2866666666666667,
+                            "width": 0.195,
+                            "height": 0.2346666666666667
+                        }
+                    ]
+                },
+                "point_1766645155422": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647363251_12egtqzuf",
+                            "x": 0.3425,
+                            "y": 0.3973333333333333
+                        }
+                    ]
+                },
+                "point_1766645155846": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766645155846_1766647414755_hp57s5ug1",
+                            "x": 0.45549999999999996,
+                            "y": 0.3973333333333333
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架，并开始调整爪夹角度，使其垂直于桌面方便抓取。",
+            "frame": 76,
+            "progress": 10,
+            "progress_explanation": "当前爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架，并开始调整爪夹角度，因此进度提升至10%。",
+            "state_description": "当前状态为爪夹打开，与水平方向呈60度夹角，爪夹在水平方向上接近了三脚架。\n为完成抓起三脚架使其放进盘子中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右前方移动，直至三脚架正上方。",
+            "time": 2.5356701030927837
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动并下降，爪夹调整爪夹角度使其垂直于桌面。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.17733333333333334,
+                            "id": "bbox_1766645153638_1766647473883_a0cvzc6yg",
+                            "width": 0.094,
+                            "x": 0.3275,
+                            "y": 0.628
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.24000000000000005,
+                            "id": "bbox_1766645154286_1766647488250_dkezgr61e",
+                            "width": 0.21200000000000002,
+                            "x": 0.3755,
+                            "y": 0.284
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647368227_o89t93nwt",
+                            "x": 0.3425,
+                            "y": 0.5826666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766645155846": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155846_1766647410595_hk3idd390",
+                            "x": 0.45549999999999996,
+                            "y": 0.5706666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右前方移动，到达三脚架的正上方后竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹保持垂直桌面不变，爪夹向爪夹方向的右前方移动后，爪夹在水平方向上更接近三脚架。",
+            "frame": 92,
+            "progress": 15,
+            "progress_explanation": "较上一阶段相比，爪夹向爪夹方向的右前方移动后，爪夹在水平方向上更接近三脚架，因此进度提升至15%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，在水平方向上接近三脚架。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架正上方。",
+            "time": 3.074603174603175
+        },
+        {
+            "action_description": "爪夹下降，接触桌面。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.17200000000000001,
+                            "id": "bbox_1766645153638_1766647523003_43so5o9w5",
+                            "width": 0.092,
+                            "x": 0.3285,
+                            "y": 0.6293333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.2426666666666667,
+                            "id": "bbox_1766645154286_1766647497851_wagm5l650",
+                            "width": 0.20800000000000002,
+                            "x": 0.3785,
+                            "y": 0.2826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647372235_im2sib138",
+                            "x": 0.3825,
+                            "y": 0.6546666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹上升，爪夹向爪夹方向的右前方移动，直至三脚架正上方，后竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹没有向爪夹的右前方移动，而是竖直下降，接触桌面。",
+            "frame": 109,
+            "progress": -10,
+            "progress_explanation": "爪夹下降接触桌面，因此进度下降至-10%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左右接触桌面。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹上升，爪夹向爪夹方向的右前方移动，直至三脚架正上方。",
+            "time": 3.639999
+        },
+        {
+            "action_description": "爪夹合拢，进行了空抓动作。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.1759999999999999,
+                            "id": "bbox_1766645153638_1766647532995_32afed3qd",
+                            "width": 0.094,
+                            "x": 0.3265,
+                            "y": 0.6253333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23466666666666663,
+                            "id": "bbox_1766645154286_1766647626435_ao8vgbwh1",
+                            "width": 0.197,
+                            "x": 0.3885,
+                            "y": 0.28800000000000003
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "爪夹张开并上升，爪夹向爪夹方向的右前方移动，直至三脚架正上方。后竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。",
+            "frame": 137,
+            "progress": -20,
+            "progress_explanation": "爪夹在错误地点下降后，进行合拢空抓，与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降至-20%。",
+            "state_description": "当前状态为爪夹合拢，爪夹接触桌面已经进行空抓动作。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹张开并上升，爪夹向爪夹方向的右前方移动，直至三脚架正上方。",
+            "time": 4.576
+        },
+        {
+            "action_description": "爪夹向左前方移动并上升，爪夹张开。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.17733333333333334,
+                            "id": "bbox_1766645153638_1766647540043_uitwyflma",
+                            "width": 0.09400000000000004,
+                            "x": 0.3255,
+                            "y": 0.6266666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23600000000000007,
+                            "id": "bbox_1766645154286_1766647607571_jkjfdunjx",
+                            "width": 0.194,
+                            "x": 0.3885,
+                            "y": 0.28533333333333327
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647377611_up7ap1e36",
+                            "x": 0.5095,
+                            "y": 0.784
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+                    ],
+                    "type": "point"
+                },
+                "point_1766645155846": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155846_1766647403875_8rppv81g3",
+                            "x": 0.6425,
+                            "y": 0.728
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右后方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹向左前方移动并上升，爪夹张开，在水平方向上接近三脚架，爪夹垂直于桌面，方便抓取。",
+            "frame": 194,
+            "progress": 10,
+            "progress_explanation": "爪夹向左前方移动并上升，爪夹张开，在水平方向上接近三脚架，因此进度提升至10%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，在水平方向上接近三脚架。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹向爪夹方向的右后方移动，直至三脚架正上方。",
+            "time": 6.458730158730159
+        },
+        {
+            "action_description": "爪夹向爪夹的右后发移动并下降。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.17600000000000005,
+                            "id": "bbox_1766645153638_1766647548387_9sggpcnco",
+                            "width": 0.08900000000000001,
+                            "x": 0.3265,
+                            "y": 0.6293333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23199999999999996,
+                            "id": "bbox_1766645154286_1766647601563_73kdqprdr",
+                            "width": 0.19600000000000004,
+                            "x": 0.3895,
+                            "y": 0.2826666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647381683_js7e7rb3e",
+                            "x": 0.4325,
+                            "y": 0.8133333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的右后方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹保持垂直桌面不变，爪夹向爪夹方向的右后方移动后，爪夹在水平方向上更接近三脚架。",
+            "frame": 210,
+            "progress": 15,
+            "progress_explanation": "较上一阶段相比，爪夹向爪夹方向的右后方移动后，爪夹在水平方向上更接近三脚架，因此进度提升至15%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，在水平方向上更接近三脚架。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹向爪夹方向的右后方移动，直至三脚架正上方。",
+            "time": 7.0065979381443295
+        },
+        {
+            "action_description": "爪夹向爪夹的右后发移动并下降。",
+            "annotations": {
+                "bbox_1766645153638": {
+                    "instances": [
+                        {
+                            "height": 0.14933333333333335,
+                            "id": "bbox_1766645153638_1766647556146_pg48ch6so",
+                            "width": 0.10100000000000002,
+                            "x": 0.3435,
+                            "y": 0.6333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23866666666666672,
+                            "id": "bbox_1766645154286_1766647584251_1l8m4ynd4",
+                            "width": 0.19699999999999998,
+                            "x": 0.3905,
+                            "y": 0.284
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766645155422": {
+                    "instances": [
+                        {
+                            "id": "point_1766645155422_1766647386483_c5k5e6hto",
+                            "x": 0.3805,
+                            "y": 0.7413333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。下降将三脚架放入盘子中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方，已调整瓜夹角度为垂直于桌面，方便抓取三脚架。",
+            "frame": 242,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹位于三脚架正上方。\n为完成抓起三脚架使其放进盘子中的任务应当:爪夹竖直下降，抓取三脚架后竖直上升，向爪夹方向的左后方移动，直至三脚架处于盘子正上方。",
+            "time": 8.068253968253968
+        },
+        {
+            "action_description": "爪夹在合拢时向右后方移动，将三脚架带下桌面。",
+            "annotations": {
+                "bbox_1766645154286": {
+                    "instances": [
+                        {
+                            "height": 0.23599999999999993,
+                            "id": "bbox_1766645154286_1766647565771_wiut398zc",
+                            "width": 0.19699999999999998,
+                            "x": 0.38849999999999996,
+                            "y": 0.2853333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹没有合拢抓住三脚架而是在合拢时向右后方移动，将三脚架带下桌面。",
+            "frame": 283,
+            "progress": -50,
+            "progress_explanation": "爪夹在合拢时向右后方移动，将三脚架带下桌面，因此进度下降至-50%",
+            "state_description": "当前状态为抓夹张开\n为完成抓起三脚架使其放进盘子中的任务应当:",
+            "time": 9.4328
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766645153638",
+            "name": "三脚架"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766645154286",
+            "name": "盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766645155422",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766645155846",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-170818-good-teapot-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json

@@ -0,0 +1,560 @@
+{
+    "task_description": "抓起茶壶并将其放入快递箱里:\n开始移动:0%\n爪夹靠近茶壶:20%\n爪夹抓取茶壶:40%\n爪夹抓住茶壶接近快递箱:60%\n爪夹将茶壶放入快递箱:80%\n爪夹松开，茶壶在快递箱中:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹张开，爪夹准备开始移动。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.15200000000000002,
+                            "id": "bbox_1766644159071_1766644268935_o9v3prwq9",
+                            "width": 0.1,
+                            "x": 0.3365,
+                            "y": 0.35866666666666663
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.5040000000000001,
+                            "id": "bbox_1766644160263_1766644601623_z5gd7mwyj",
+                            "width": 0.34299999999999997,
+                            "x": 0.6555,
+                            "y": 0.12133333333333332
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644194375_gilka9qv8",
+                            "x": 0.3895,
+                            "y": 0.39066666666666666
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644260951_3iocr0n0n",
+                            "x": 0.49450000000000005,
+                            "y": 0.37866666666666665
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，到达茶壶的正上方后下降，抓取茶壶后竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "",
+            "frame": 54,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰茶壶。\n为完成抓起茶壶使其放进快递箱里的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右后方移动直至茶壶的正上方。",
+            "time": 1.7930142302716687
+        },
+        {
+            "action_description": "爪夹上升，向爪夹方向的左后方略微移动，并调整爪夹角度，使其垂直于桌面。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766644159071_1766644282447_8lcca58fw",
+                            "x": 0.3365,
+                            "y": 0.35733333333333334,
+                            "width": 0.10099999999999998,
+                            "height": 0.15466666666666662
+                        }
+                    ]
+                },
+                "bbox_1766644160263": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766644160263_1766644592719_5zk63nhxc",
+                            "x": 0.6535,
+                            "y": 0.12133333333333333,
+                            "width": 0.3449999999999999,
+                            "height": 0.504
+                        }
+                    ]
+                },
+                "point_1766644161039": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644198311_5fiq17s1n",
+                            "x": 0.3325,
+                            "y": 0.36933333333333335
+                        }
+                    ]
+                },
+                "point_1766644161431": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644257343_ekyde1kv6",
+                            "x": 0.44350000000000006,
+                            "y": 0.376
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直���桌面。然后向爪夹方向的右前方移动，到达茶壶的正上方后下降，抓取茶壶后竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "当前爪夹向爪夹方向的左后方移动，在水平方向上接近茶壶，并开始调整爪夹角度，方便抓取。",
+            "frame": 92,
+            "progress": 10,
+            "progress_explanation": "当前爪夹向爪夹方向的左后方移动，在水平方向上接近茶壶，并开始调整爪夹角度，因此进度提升至10%。",
+            "state_description": "当前状态为爪夹打开，与水平方向呈60度夹角，爪夹在水平方向上接近了茶壶。\n为完成抓起茶壶使其放进快递箱里的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右前方移动，直至茶壶正上方。",
+            "time": 3.055051546391752
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右前方移动，并略微下降，调整爪夹角度，使其垂直于桌面。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.15466666666666662,
+                            "id": "bbox_1766644159071_1766644296175_x6jpll7vb",
+                            "width": 0.09900000000000002,
+                            "x": 0.3375,
+                            "y": 0.35866666666666674
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.504,
+                            "id": "bbox_1766644160263_1766644579231_m3linz5sw",
+                            "width": 0.3449999999999999,
+                            "x": 0.6535,
+                            "y": 0.12400000000000001
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644202815_4d38hdqul",
+                            "x": 0.3285,
+                            "y": 0.42
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644252599_l2w92yojn",
+                            "x": 0.42750000000000005,
+                            "y": 0.3973333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹竖直下降抓取茶壶，抓取茶壶后竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方，已调整瓜夹角度为垂直于桌面，方便抓取三脚架。",
+            "frame": 128,
+            "progress": 15,
+            "progress_explanation": "爪夹已悬空于三脚架正上方，接近三脚架，因此进度提升至15%。",
+            "state_description": "当前状态为爪夹打开，爪夹垂直于桌面，爪夹在茶壶的正上方。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹竖直下降抓取茶壶。",
+            "time": 4.2520051746442435
+        },
+        {
+            "action_description": "爪夹下降，接触到茶壶。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.1573333333333333,
+                            "id": "bbox_1766644159071_1766644308960_8ktrlshc8",
+                            "width": 0.1,
+                            "x": 0.3375,
+                            "y": 0.35733333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.504,
+                            "id": "bbox_1766644160263_1766644564135_q70f4z30i",
+                            "width": 0.34400000000000014,
+                            "x": 0.6555,
+                            "y": 0.12133333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644206383_ipm5e1bgl",
+                            "x": 0.3435,
+                            "y": 0.43733333333333335
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644249503_spnxsj33w",
+                            "x": 0.4305,
+                            "y": 0.4106666666666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹竖直下降抓取茶壶，抓取茶壶后竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹位于茶壶正上方，爪夹下降进一步接近茶壶，且爪夹与桌面垂直，方便抓取茶壶。",
+            "frame": 161,
+            "progress": 20,
+            "progress_explanation": "较上一阶段相比，爪夹更接近茶壶，因此进度提升至20%。",
+            "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹位于三脚架正上方。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹竖直下降抓取茶壶。",
+            "time": 5.375806451612903
+        },
+        {
+            "action_description": "爪夹略微下降后合拢，抓取茶壶。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.15600000000000006,
+                            "id": "bbox_1766644159071_1766644319943_a302iurc3",
+                            "width": 0.10099999999999998,
+                            "x": 0.34450000000000003,
+                            "y": 0.3573333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.5053333333333334,
+                            "id": "bbox_1766644160263_1766644549679_oryauy6ks",
+                            "width": 0.344,
+                            "x": 0.6535,
+                            "y": 0.12133333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644209407_4w0yg3v89",
+                            "x": 0.3525,
+                            "y": 0.452
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹在茶壶正上方竖直下降抓取，成功抓取茶壶。",
+            "frame": 208,
+            "progress": 40,
+            "progress_explanation": "爪夹已成功抓取到茶壶，因此进度提升至40%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓取到茶壶。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹竖直上升，向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。",
+            "time": 6.932988357050452
+        },
+        {
+            "action_description": "爪夹抓取茶壶上升，略微向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.21333333333333335,
+                            "id": "bbox_1766644159071_1766644333879_k7z5huclq",
+                            "width": 0.12799999999999997,
+                            "x": 0.3225,
+                            "y": 0.3026666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.5026666666666666,
+                            "id": "bbox_1766644160263_1766644530207_ikoxooefb",
+                            "width": 0.3459999999999999,
+                            "x": 0.6525000000000001,
+                            "y": 0.12133333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644212423_5fk05ewbs",
+                            "x": 0.3345,
+                            "y": 0.4106666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644241815_or8uvnhiq",
+                            "x": 0.4335,
+                            "y": 0.388
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧茶壶向爪夹方向的左侧移动，成功在水平方向上接近快递箱。",
+            "frame": 245,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住茶壶，并在水平方向上逐渐接近快递箱，因此进度提升为50%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上略微接近了快递箱。为完成抓起茶壶使其放进快递箱里的任务应当:爪夹向爪夹方向的左前方移动，直至茶壶处于快递箱正上方。",
+            "time": 8.16248382923674
+        },
+        {
+            "action_description": "爪夹抓取茶壶向爪夹方向的左前方移动。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.21733333333333332,
+                            "id": "bbox_1766644159071_1766644344991_3ukdidzex",
+                            "width": 0.15499999999999997,
+                            "x": 0.5385,
+                            "y": 0.18533333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.5026666666666667,
+                            "id": "bbox_1766644160263_1766644511983_dpri9igj7",
+                            "width": 0.35699999999999993,
+                            "x": 0.6405000000000001,
+                            "y": 0.12266666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644216775_ziy9vhv7m",
+                            "x": 0.5645,
+                            "y": 0.3106666666666667
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644238231_87habm5qb",
+                            "x": 0.6474999999999999,
+                            "y": 0.24533333333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧茶壶，向爪夹方向的左侧移动，在水平方向上更接近快递箱。",
+            "frame": 263,
+            "progress": 60,
+            "progress_explanation": "较上一步相比爪夹在水平方向上逐渐接近快递箱，因此进度提升为60%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上接近了快递箱。为完成抓起茶壶使其放进快递箱里的任务应当:爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。",
+            "time": 8.756907216494845
+        },
+        {
+            "action_description": "爪夹抓住茶壶向爪夹的左前方略微移动后下降。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.19466666666666665,
+                            "id": "bbox_1766644159071_1766644383191_pwrxwexm7",
+                            "width": 0.14200000000000007,
+                            "x": 0.7585,
+                            "y": 0.14400000000000002
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.49333333333333335,
+                            "id": "bbox_1766644160263_1766644493039_twkr7j3v3",
+                            "width": 0.34499999999999986,
+                            "x": 0.6535000000000001,
+                            "y": 0.13333333333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644220447_pva3yrcpp",
+                            "x": 0.7965,
+                            "y": 0.2813333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。下降将茶壶放入快递箱里，爪夹张开。",
+            "error_success_analysis": "爪夹保持合找，抓紧茶壶，向爪夹方向的左前方移动，在水平方向上更接近快递箱。",
+            "frame": 283,
+            "progress": 70,
+            "progress_explanation": "较上一步相比爪夹在水平方向上更接近快递箱，因此进度提升为70%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上更接近了快递箱。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹向爪夹方向的左侧移动，直至茶壶处于快递箱正上方。",
+            "time": 9.4248
+        },
+        {
+            "action_description": "爪夹略微向爪夹的左后方移动并下降。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.16266666666666665,
+                            "id": "bbox_1766644159071_1766644397591_95xx2933j",
+                            "width": 0.1370000000000001,
+                            "x": 0.7715,
+                            "y": 0.21733333333333335
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.48800000000000004,
+                            "id": "bbox_1766644160263_1766644453775_5fmfzg078",
+                            "width": 0.34299999999999997,
+                            "x": 0.6545,
+                            "y": 0.13733333333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644223423_9y0qxua3t",
+                            "x": 0.8105,
+                            "y": 0.3453333333333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹下降，将茶壶放入快递箱中，爪夹张开。",
+            "error_success_analysis": "爪夹向爪夹方向的左后方略微移动后，处于快递箱正上方，方便爪夹将茶壶放入快递箱中。",
+            "frame": 318,
+            "progress": 80,
+            "progress_explanation": "爪夹略微向爪夹的左后方移动后，处于快递箱正上方，因此进度提升至80%。",
+            "state_description": "当前状态为爪夹合拢，垂直于桌面，处于快递箱的正上方。\n为完成抓起茶壶使其放进快递箱里的任务应当:爪夹下降，将茶壶放入快递箱中，爪夹张开。",
+            "time": 10.599599
+        },
+        {
+            "action_description": "爪夹张开，茶壶落在快递箱中。",
+            "annotations": {
+                "bbox_1766644159071": {
+                    "instances": [
+                        {
+                            "height": 0.13866666666666666,
+                            "id": "bbox_1766644159071_1766644414495_96ig9hf7j",
+                            "width": 0.11400000000000006,
+                            "x": 0.8015000000000001,
+                            "y": 0.39866666666666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766644160263": {
+                    "instances": [
+                        {
+                            "height": 0.4866666666666666,
+                            "id": "bbox_1766644160263_1766644438991_ad32luu9f",
+                            "width": 0.33999999999999997,
+                            "x": 0.6585,
+                            "y": 0.14266666666666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766644161039": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161039_1766644226631_56uf3087m",
+                            "x": 0.8115,
+                            "y": 0.3333333333333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766644161431": {
+                    "instances": [
+                        {
+                            "id": "point_1766644161431_1766644229919_2q2684tc6",
+                            "x": 0.8525,
+                            "y": 0.23333333333333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹抓住茶壶在快递箱正上方下降，打开爪夹，茶壶落入快递箱中，完成任务。",
+            "frame": 340,
+            "progress": 100,
+            "progress_explanation": "茶壶成功落在快递箱中，因此进度提升至100%。",
+            "state_description": "爪夹张开，茶壶落在快递箱中，已完成抓起茶壶使其放进快递箱里的任务。",
+            "time": 11.342474226804123
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766644159071",
+            "name": "茶壶"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766644160263",
+            "name": "快递箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766644161039",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766644161431",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json

@@ -0,0 +1,596 @@
+{
+    "task_description": "抓起杯子使其落入盘中:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近盘子:60%\n爪夹将杯子放入盘子:80%\n爪夹松开，杯子落入盘子:100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开扶态，暂未移动。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.19066665115017484,
+                            "id": "bbox_1766393186661_1766393235884_0613o2k3w",
+                            "width": 0.1279999921875005,
+                            "x": 0.7696665789998425,
+                            "y": 0.5814629145131092
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.25466664594184196,
+                            "id": "bbox_1766393192879_1766393249299_xn25l2el0",
+                            "width": 0.21199998706054773,
+                            "x": 0.641666586812342,
+                            "y": 0.35212959984296877
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393259577_benytx3oi",
+                            "x": 0.39266660201009507,
+                            "y": 0.3934629298125871
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393203305": {
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393264293_1jv6swoji",
+                            "x": 0.4956665957234743,
+                            "y": 0.38012959756432313
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左前方移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "",
+            "frame": 28,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触杯子，为完成抓起杯子使其落入盘中的任务应当:向爪夹方向的左前方移动，准备抓取杯子。",
+            "time": 0.9216795743556702
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动，并抬升。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766393186661_1766393276573_50tmlxfu5",
+                            "x": 0.772375,
+                            "y": 0.5792604166666667,
+                            "width": 0.12500000000000008,
+                            "height": 0.19199999999999992
+                        }
+                    ]
+                },
+                "bbox_1766393192879": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766393192879_1766393285218_pjjxgklym",
+                            "x": 0.644375,
+                            "y": 0.35259374999999993,
+                            "width": 0.2079999999999999,
+                            "height": 0.25600000000000006
+                        }
+                    ]
+                },
+                "point_1766393197109": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393291196_z6amgpf52",
+                            "x": 0.3713750010986328,
+                            "y": 0.3259270888671871
+                        }
+                    ]
+                },
+                "point_1766393203305": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393294072_peveovwsi",
+                            "x": 0.48437500048828125,
+                            "y": 0.31526042133246496
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "继续向爪夹方向的左前方移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的正后方移动，��至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近杯子。",
+            "frame": 54,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近杯子并开始调整爪夹角度方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角，与杯子的水平距离略微缩短。为完成抓起杯子使其落入盘中的任务应当:继续向爪夹方向的左前方移动直至杯子正上方。",
+            "time": 1.795387276930896
+        },
+        {
+            "action_description": "爪夹向爪夹的上方前方移动到最高点后向爪夹方向的前方移动。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766393186661_1766393303506_ba36exgi5",
+                            "x": 0.774375,
+                            "y": 0.5799270833333333,
+                            "width": 0.12300000000000004,
+                            "height": 0.18933333333333333
+                        }
+                    ]
+                },
+                "bbox_1766393192879": {
+                    "type": "bbox",
+                    "instances": [
+                        {
+                            "id": "bbox_1766393192879_1766393314488_iwp52n5ze",
+                            "x": 0.642375,
+                            "y": 0.35059375000000004,
+                            "width": 0.2120000000000001,
+                            "height": 0.256
+                        }
+                    ]
+                },
+                "point_1766393197109": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393324774_goe9catxw",
+                            "x": 0.37937499951171877,
+                            "y": 0.446593743381077
+                        }
+                    ]
+                },
+                "point_1766393203305": {
+                    "type": "point",
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393327572_99plqeka8",
+                            "x": 0.506374999145508,
+                            "y": 0.42126040993923664
+                        }
+                    ]
+                }
+            },
+            "correction_plan": "继续向爪夹方向的左前方移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹向爪夹方向的上方前方移动，水平方向上成功接近杯子。",
+            "frame": 72,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上进一步接近杯子并开始调整爪夹角度方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹张开，与杯子的水平距离进一步缩短。为完成抓起杯子使其落入盘中的任务应当:继续向爪夹方向的左前方移动直至杯子正上方。",
+            "time": 2.3960745381030186
+        },
+        {
+            "action_description": "爪夹已经移动到杯子的右上方非常接近杯子。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.1866666666666667,
+                            "id": "bbox_1766393186661_1766393338484_lqflua849",
+                            "width": 0.12200000000000007,
+                            "x": 0.775375,
+                            "y": 0.5812604166666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.26533333333333337,
+                            "id": "bbox_1766393192879_1766393351327_sl3bnz977",
+                            "width": 0.20800000000000002,
+                            "x": 0.643375,
+                            "y": 0.34392708333333327
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393368919_7ejlalnim",
+                            "x": 0.772375,
+                            "y": 0.6159270833333333
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393203305": {
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393371547_ncd41yv0r",
+                            "x": 0.8963750000000001,
+                            "y": 0.5612604166666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向爪夹方向的左侧移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹已经移动到杯子的右上方非常接近杯子，方便进一步抓取。",
+            "frame": 118,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已经移动到杯子的右上方非常接近杯子，因此进度提升为20%。",
+            "state_description": "当前爪夹张开，与水平方向呈60度角，爪夹已经移动到杯子的右上方非常接近杯子。为完成抓起杯子使其落入盘中的任务应当:继续向爪夹方向的左侧移动直至杯子正上方。",
+            "time": 3.9251160692010307
+        },
+        {
+            "action_description": "爪夹保持张开，已经移动到杯子的正上方。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.19333333333333336,
+                            "id": "bbox_1766393186661_1766393378994_oa6s2oasf",
+                            "width": 0.12700000000000006,
+                            "x": 0.770375,
+                            "y": 0.5799270833333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.26,
+                            "id": "bbox_1766393192879_1766393388080_xbab7ksqn",
+                            "width": 0.213,
+                            "x": 0.643375,
+                            "y": 0.35192708333333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393398876_pmumqzejq",
+                            "x": 0.777375,
+                            "y": 0.65459375
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393203305": {
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393401290_nvm9pvxa0",
+                            "x": 0.8863749999999999,
+                            "y": 0.6345937500000001
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "合拢爪夹，抓取杯子后垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "已经移动到杯子的正上方，但是没有合拢抓取杯子。",
+            "frame": 159,
+            "progress": 30,
+            "progress_explanation": "当前爪夹张开，已经移动到杯子的正上方，因此进度提升为30%。",
+            "state_description": "当前爪夹张开，已经移动到杯子的正上方。为完成抓起杯子使其落入盘中的任务应当:闭合爪夹抓取杯子后抬升爪夹。",
+            "time": 5.29167967435567
+        },
+        {
+            "action_description": "爪夹略微向下移动，左边爪夹已经碰到杯子。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.1866666666666667,
+                            "id": "bbox_1766393186661_1766393416476_sd3uvu9ml",
+                            "width": 0.13099999999999995,
+                            "x": 0.771375,
+                            "y": 0.5829270833333333
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.25199999999999995,
+                            "id": "bbox_1766393192879_1766393423056_6e9u6f8ly",
+                            "width": 0.221,
+                            "x": 0.645375,
+                            "y": 0.35492708333333334
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393408628_96fav5yos",
+                            "x": 0.7813749999999999,
+                            "y": 0.63359375
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766393203305": {
+                    "instances": [
+                        {
+                            "id": "point_1766393203305_1766393410954_1tmgpb267",
+                            "x": 0.897375,
+                            "y": 0.6349270833333333
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "合拢爪夹，抓取杯子后垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹已经移动到杯子的正上方，左边爪夹已经碰到杯子。还没有合拢。",
+            "frame": 190,
+            "progress": 35,
+            "progress_explanation": "当前爪夹张开，左边爪夹已经碰到杯子，因此进度提升为35%。",
+            "state_description": "当前爪夹张开，左边爪夹已经碰到杯子。为完成抓起杯子使其落入盘中的任务应当:调整角度闭合爪夹抓取杯子后抬升爪夹。",
+            "time": 6.32786526507732
+        },
+        {
+            "action_description": "爪夹调整角度后合拢，已经抓取到杯子。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.18800000000000003,
+                            "id": "bbox_1766393186661_1766393434316_wtz0mjek0",
+                            "width": 0.129,
+                            "x": 0.771375,
+                            "y": 0.5852604166666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.2546666666666667,
+                            "id": "bbox_1766393192879_1766393442434_syv123uoc",
+                            "width": 0.2079999999999999,
+                            "x": 0.644375,
+                            "y": 0.3532604166666667
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393428608_a3qgeq380",
+                            "x": 0.797375,
+                            "y": 0.7119270833333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹合拢，垂直上升，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹已经抓取到杯子。保持合拢。",
+            "frame": 225,
+            "progress": 40,
+            "progress_explanation": "当前爪夹合拢，已经抓取到杯子，因此进度提升为40%。",
+            "state_description": "当前爪夹合拢，已经抓取到杯子。为完成抓起杯子使其落入盘中的任务应当:抬升爪夹，向爪夹方向的正后方移动，直至杯子处于盘子正上方。",
+            "time": 7.514222680541239
+        },
+        {
+            "action_description": "爪夹保持合拢，上升到空中。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.2133333333333334,
+                            "id": "bbox_1766393186661_1766393454890_60jm52m7c",
+                            "width": 0.1419999999999999,
+                            "x": 0.753375,
+                            "y": 0.46159374999999997
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.2546666666666667,
+                            "id": "bbox_1766393192879_1766393469040_dkpp2me0o",
+                            "width": 0.21899999999999994,
+                            "x": 0.643375,
+                            "y": 0.35359375000000004
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393473386_kityjkmky",
+                            "x": 0.784375,
+                            "y": 0.5869270833333334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "保持爪夹合拢，向爪夹方向的正后方移动，直至杯子处于盘子正上方。下降将杯子放入盘中，松开爪夹。",
+            "error_success_analysis": "爪夹已经抓取到杯子上升到空中。保持合拢。",
+            "frame": 274,
+            "progress": 50,
+            "progress_explanation": "当前爪夹合拢，已经抓取到杯子，上升到空中。因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，已经抓取到杯子，上升到空中。为完成抓起杯子使其落入盘中的任务应当:向爪夹方向的正后方移动，直至杯子处于盘子正上方。",
+            "time": 9.118733
+        },
+        {
+            "action_description": "爪夹保持合拢，抓紧杯子向爪夹方向的后方移动。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.16533333333333336,
+                            "id": "bbox_1766393186661_1766393494762_43hrdob0s",
+                            "width": 0.11699999999999999,
+                            "x": 0.750375,
+                            "y": 0.3162604166666666
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.2573333333333333,
+                            "id": "bbox_1766393192879_1766393506327_97wbi6973",
+                            "width": 0.20699999999999993,
+                            "x": 0.645375,
+                            "y": 0.34959375000000004
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393510264_1jhr6lqxq",
+                            "x": 0.779375,
+                            "y": 0.43492708333333335
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹保持合拢，下降将黄瓜放入杯子，松开爪夹。",
+            "error_success_analysis": "爪夹已经抓取到杯子，并移动到了盘子的正上方。",
+            "frame": 320,
+            "progress": 60,
+            "progress_explanation": "当前爪夹已抓住杯子，并移动到了盘子的正上方，因此进度提升为60%。",
+            "state_description": "当前爪夹合拢，抓住杯子处于盘子方向的正上方。为完成抓起杯子使其落入盘中的任务应当:爪夹继续合拢，下降将杯子放入盘中，松开爪夹。",
+            "time": 10.652813817654641
+        },
+        {
+            "action_description": "爪夹保持合拢，向下将杯子放入盘子。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.1573333333333333,
+                            "id": "bbox_1766393186661_1766393524368_jxwg592fy",
+                            "width": 0.12699999999999995,
+                            "x": 0.709375,
+                            "y": 0.36259375000000005
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.25600000000000006,
+                            "id": "bbox_1766393192879_1766393531974_3ai1kkaqo",
+                            "width": 0.20800000000000002,
+                            "x": 0.6443749999999999,
+                            "y": 0.35059375
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393516626_defiecoey",
+                            "x": 0.757375,
+                            "y": 0.4692604166666667
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹张开，抬升到空中后，移开爪夹。",
+            "error_success_analysis": "当前爪夹合拢，已经向下将杯子放入盘子里。",
+            "frame": 354,
+            "progress": 80,
+            "progress_explanation": "当前爪夹已经向下将杯子放入盘子里，因此进度提升为80%。",
+            "state_description": "当前爪夹合拢，已经向下将杯子放入盘子里。为完成抓起杯子使其落入盘中的任务应当:爪夹张开，抬升到空中后，移开爪夹。",
+            "time": 11.794119685695877
+        },
+        {
+            "action_description": "爪夹张开，松开杯子。",
+            "annotations": {
+                "bbox_1766393186661": {
+                    "instances": [
+                        {
+                            "height": 0.16000000000000003,
+                            "id": "bbox_1766393186661_1766393552870_ntwbzidq8",
+                            "width": 0.12799999999999995,
+                            "x": 0.709375,
+                            "y": 0.36159375
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766393192879": {
+                    "instances": [
+                        {
+                            "height": 0.25733333333333336,
+                            "id": "bbox_1766393192879_1766393559310_z0bd2ug43",
+                            "width": 0.2120000000000001,
+                            "x": 0.642375,
+                            "y": 0.34959375
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766393197109": {
+                    "instances": [
+                        {
+                            "id": "point_1766393197109_1766393547026_duupdq94w",
+                            "x": 0.745375,
+                            "y": 0.47759375
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "当前爪夹张开，没有继续抓取杯子。",
+            "frame": 371,
+            "progress": 100,
+            "progress_explanation": "当前爪夹已经向下将杯子放入盘子里，然后松开爪夹。因此进度提升为100%。",
+            "state_description": "爪夹已经完成抓起杯子使其落入盘中的任务。",
+            "time": 12.354134060389313
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766393186661",
+            "name": "杯子"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766393192879",
+            "name": "盘子"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766393197109",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766393203305",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-140737-bad-charge-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,428 @@
+{
+    "task_description": "把充电器放在快递箱中：\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近快递箱：60%\n爪夹将充电器放入快递箱：80%\n爪夹松开，使充电器落入快递箱中：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.49333329318576713,
+                            "id": "bbox_1766199802798_1766199830020_vpdctgts6",
+                            "width": 0.2929999821167003,
+                            "x": 0.7066665828450571,
+                            "y": 0.3043518225625145
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.1906666511501749,
+                            "id": "bbox_1766199803053_1766199848126_syn1orrmy",
+                            "width": 0.2419999852294931,
+                            "x": 0.35166660451253634,
+                            "y": 0.5216851382092172
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766199850657_sci2vjcgs",
+                            "x": 0.3986666016438841,
+                            "y": 0.3856851492769247
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766199803845": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803845_1766199852960_wkdqhc020",
+                            "x": 0.504666595174158,
+                            "y": 0.3803518163776191
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "",
+            "frame": 78,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰充电器。\n为完成抓起充电器使其落入快递箱中的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的前方移动至充电器的正上方。",
+            "time": 2.596047338360826
+        },
+        {
+            "action_description": "爪夹向爪夹上方移动，同时调整爪夹角度，准备靠近充电器。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.49466662641059356,
+                            "id": "bbox_1766199802798_1766199861327_kahzuz8fm",
+                            "width": 0.29599998193359484,
+                            "x": 0.7036665830281625,
+                            "y": 0.3043518225625145
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.19066665115017484,
+                            "id": "bbox_1766199803053_1766199879312_w7px57kjk",
+                            "width": 0.2389999854125985,
+                            "x": 0.35366660439046604,
+                            "y": 0.5203518049843908
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766199882614_sj2n92z7j",
+                            "x": 0.38866660225423566,
+                            "y": 0.3536851518810912
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766199803845": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803845_1766199885430_fujmnn0c0",
+                            "x": 0.497666595601404,
+                            "y": 0.34435181930730635
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹调整角度，准备靠近充电器，准备抓取充电器。",
+            "frame": 102,
+            "progress": 5,
+            "progress_explanation": "爪夹正在调整角度，准备靠近充电器。因此进度提升至5%",
+            "state_description": "当前爪夹张开，爪夹与桌面水平角度呈45°。\n为完成抓起充电器使其落入快递箱中的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的前方移动至充电器的正上方。",
+            "time": 3.4032637824138345
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动，同时下降并调整爪夹角度至垂直于桌面，爪夹垂直于充电器上方。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.49333329318576713,
+                            "id": "bbox_1766199802798_1766199897828_jdiump0ya",
+                            "width": 0.29299998211670014,
+                            "x": 0.7046665829671275,
+                            "y": 0.3016851561128617
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.13999998860677182,
+                            "id": "bbox_1766199803053_1766199917659_09ranovew",
+                            "width": 0.21499998687744223,
+                            "x": 0.3766666029866575,
+                            "y": 0.571018467527794
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766199929421_hk90yx968",
+                            "x": 0.38566660243734113,
+                            "y": 0.6443517948932459
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹角度成功调整至垂直于桌面，爪夹成功移动于充电器上方。",
+            "frame": 145,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于充电器上方，已接近充电器，因此进度提升为20%。",
+            "state_description": "当前状态为爪夹打开，爪夹处于充电器上方。\n为完成抓起充电器使其落入快递箱中的任务应当：爪夹向下移动抓取充电器，随后抬起",
+            "time": 4.823366785840424
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动，合拢并未抓取到充电器。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.4919999599609408,
+                            "id": "bbox_1766199802798_1766199942266_oszth5naq",
+                            "width": 0.29499998199462996,
+                            "x": 0.7036665830281625,
+                            "y": 0.3070184890121672
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.12533332313368142,
+                            "id": "bbox_1766199803053_1766199954508_z53d2btax",
+                            "width": 0.28399998266601667,
+                            "x": 0.31366660683187214,
+                            "y": 0.5870184662257107
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抬起爪夹重新调整位置至充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹未成功移动至充电器正上方，并未抓取到充电器。",
+            "frame": 203,
+            "progress": 40,
+            "progress_explanation": "爪夹向下移动，合拢并未抓取到充电器。因此进度提升至40%",
+            "state_description": "当前状态为爪夹合拢并未抓取到充电器。\n为完成抓起充电器使其落入快递箱中的任务应当：将爪夹松开，抬起爪夹后调整位置重新抓取充电器。",
+            "time": 6.781614085302351
+        },
+        {
+            "action_description": "爪夹抬起并松开，未成功抓取充电器。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.49333329318576713,
+                            "id": "bbox_1766199802798_1766199962270_b3k31u0tu",
+                            "width": 0.29499998199462996,
+                            "x": 0.7036665830281625,
+                            "y": 0.30301848933768805
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.13066665603298694,
+                            "id": "bbox_1766199803053_1766199974227_h2ip7zgtz",
+                            "width": 0.27999998291015726,
+                            "x": 0.31266660689290726,
+                            "y": 0.5816851333264051
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766199977352_kwcm24tnd",
+                            "x": 0.34966660463460664,
+                            "y": 0.5923517991250163
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抬起爪夹重新调整位置至充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹未成功移动至充电器正上方，并未抓取到充电器。",
+            "frame": 246,
+            "progress": 20,
+            "progress_explanation": "爪夹抬起并松开，未成功抓取充电器。因此进度下降为20%",
+            "state_description": "当前状态为爪夹松开，垂直于桌面。\n为完成抓起充电器使其落入快递箱中的任务应当：抬起爪夹后调整位置重新抓取充电器。",
+            "time": 8.216665541396589
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左方移动移动，远离充电器。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.49066662673611444,
+                            "id": "bbox_1766199802798_1766199996245_ykvixs2qe",
+                            "width": 0.2849999826049814,
+                            "x": 0.7156665822957408,
+                            "y": 0.3043518225625144
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.13066665603298694,
+                            "id": "bbox_1766199803053_1766199988660_7mvz6lyn3",
+                            "width": 0.2829999827270518,
+                            "x": 0.30966660707601273,
+                            "y": 0.5803518001015787
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766200013194_ut25d2wyu",
+                            "x": 0.7156665822957408,
+                            "y": 0.5750184672022732
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹移动方向错误，与充电器距离拉远。",
+            "frame": 279,
+            "progress": 10,
+            "progress_explanation": "爪夹向快递箱移动，远离充电器。因此进度下降为10%",
+            "state_description": "当前爪夹张开，水平远离充电器。\n为完成抓起充电器使其落入快递箱中的任务应当：调整爪夹方向直到垂直于桌面，调整爪夹位置至充电器��正上方，抓取充电器。",
+            "time": 9.292954133467266
+        },
+        {
+            "action_description": "爪夹抓取快递箱失败，水平靠近充电器。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.3746666361762178,
+                            "id": "bbox_1766199802798_1766200028189_dudicecg2",
+                            "width": 0.4019999754638685,
+                            "x": 0.5736665909627324,
+                            "y": 0.5936851323498427
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
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+                            "width": 0.24399998510742277,
+                            "x": 0.3086666071370479,
+                            "y": 0.5803518001015787
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803714_1766200018474_dsq2qi1xw",
+                            "x": 0.583666590352381,
+                            "y": 0.7003517903359545
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+                    ],
+                    "type": "point"
+                },
+                "point_1766199803845": {
+                    "instances": [
+                        {
+                            "id": "point_1766199803845_1766200020610_9ytnwii80",
+                            "x": 0.6066665889485724,
+                            "y": 0.7150184558090449
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹抓取快递箱动作失败，距离充电器距离拉近。",
+            "frame": 302,
+            "progress": 15,
+            "progress_explanation": "爪夹抓取快递箱失败，水平靠近充电器，因此进度提升为15%",
+            "state_description": "当前状态为爪夹抓取快递箱失败，水平靠近充电器\n为完成抓起充电器使其落入快递箱中的任务应当：调整爪夹方向直到垂直于桌面，调整爪夹位置至充电器的正上方，抓取充电器。",
+            "time": 10.05532521951733
+        },
+        {
+            "action_description": "爪夹向爪夹下方移动至快递箱中，导致快递箱倾斜。",
+            "annotations": {
+                "bbox_1766199802798": {
+                    "instances": [
+                        {
+                            "height": 0.469333295138892,
+                            "id": "bbox_1766199802798_1766200089089_75rqkr6px",
+                            "width": 0.42399997412109525,
+                            "x": 0.5746665909016972,
+                            "y": 0.4990184733871685
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766199803053": {
+                    "instances": [
+                        {
+                            "height": 0.13866665538194536,
+                            "id": "bbox_1766199803053_1766200069397_eppxgf27s",
+                            "width": 0.24399998510742274,
+                            "x": 0.30966660707601273,
+                            "y": 0.577685133651926
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766199803714": {
+                    "instances": [
+                        {
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+                            "x": 0.6856665841267954,
+                            "y": 0.695018457436649
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "垂直抬起并张开爪夹，调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。",
+            "error_success_analysis": "爪夹下降位置错误，抓取充电器动作失败。",
+            "frame": 371,
+            "progress": 0,
+            "progress_explanation": "爪夹下降至快递箱中，在错误的地方下降，导致快递箱倾斜。因此进度下降为0%。",
+            "state_description": "当前状态为爪夹下降至快递箱中，导致快递箱倾斜。\n为完成抓起充电器使其落入快递箱中的任务应当：抬起爪夹，调整爪夹方向直到垂直于桌面，调整爪夹位置至充电器的正上方，抓取充电器。",
+            "time": 12.372335383002817
+        },
+        {
+            "time": 13.862,
+            "frame": 416,
+            "progress": -10,
+            "action_description": "爪夹继续向爪夹方向的下后方移动，导致快递箱快要翻到。",
+            "state_description": "当前爪夹位于快递箱中，快递箱与桌面角度呈45倾斜。\n为完成抓起充电器使其落入快递箱中的任务应当：抬起并张开爪夹，调整爪夹方向直到垂直于桌面，调整爪夹位置至充电器的正上方，抓取充电器。",
+            "progress_explanation": "当前爪夹下降导致快递箱与桌面角度呈45倾斜。因此进度下降至-10%",
+            "error_success_analysis": "爪夹下降位置错误，导致未能抓取到充电器",
+            "correction_plan": "垂直抬起并张开爪夹，调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于快递箱正上方。下降将充电器放入快递箱中，松开爪夹。"
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766199802798",
+            "name": "快递箱"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766199803053",
+            "name": "充电器"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766199803714",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766199803845",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-165137-mix-charger-plate/annotations/chunk-000/observation.images.front/episode_000003.json

@@ -0,0 +1,596 @@
+{
+    "task_description": "拿起充电器，将其放在充电板上：\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近充电板：60%\n爪夹将充电器放到充电板上：80%\n爪夹松开，使充电器落入充电板上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开扶态，暂未移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.24799997981771002,
+                            "id": "bbox_1766473088871_1766473114896_zv6v7byou",
+                            "width": 0.19899998785400466,
+                            "x": 0.24266661116536797,
+                            "y": 0.3139814502782023
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.18933331792534852,
+                            "id": "bbox_1766473088997_1766473122677_g29xqw90c",
+                            "width": 0.16199999011230526,
+                            "x": 0.17266661543782863,
+                            "y": 0.6046480932903571
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473089913": {
+                    "instances": [
+                        {
+                            "id": "point_1766473089913_1766473125425_dyjgkb2ah",
+                            "x": 0.3816666026814818,
+                            "y": 0.39398144376778615
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473127880_ckijpl0xo",
+                            "x": 0.48466659639486104,
+                            "y": 0.376648111845043
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "",
+            "frame": 37,
+            "progress": 0,
+            "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰充电器。\n为完成抓起充电器使其落入盘中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取充电器。",
+            "time": 1.2470402624992285
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动，并调整爪夹角度，使其接近于垂直桌面",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.24266664691840442,
+                            "id": "bbox_1766473088871_1766473149057_ascmifep8",
+                            "width": 0.20199998767089916,
+                            "x": 0.24066661128743827,
+                            "y": 0.3193147831775079
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.18933331792534838,
+                            "id": "bbox_1766473088997_1766473141471_b39j6c0pt",
+                            "width": 0.1629999900512701,
+                            "x": 0.1716666154988638,
+                            "y": 0.6019814268407042
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473089913": {
+                    "instances": [
+                        {
+                            "id": "point_1766473089913_1766473136124_8gkxzkho2",
+                            "x": 0.3576666041463254,
+                            "y": 0.4686481043580644
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473133849_q1768e4qt",
+                            "x": 0.48466659639486104,
+                            "y": 0.4579814385594532
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近充电器，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 108,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近充电器并开始调整爪夹角度方便抓取，因此进度提升至10%。",
+            "state_description": "当前爪夹张开，与充电器的水平距离略微缩短。\n为完成拿起充电器，将其放在充电板上的任务应当:继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至充电器正上方。",
+            "time": 3.598414725884272
+        },
+        {
+            "action_description": "爪夹向爪夹的右前方移动，并调整爪夹角度，使其靠近充电器。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.2399999804687516,
+                            "id": "bbox_1766473088871_1766473162351_timcttu5l",
+                            "width": 0.1989999878540046,
+                            "x": 0.2436666111043328,
+                            "y": 0.32064811640233426
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.18266665180121652,
+                            "id": "bbox_1766473088997_1766473173680_v6t6hsy7z",
+                            "width": 0.1619999901123053,
+                            "x": 0.17166661549886378,
+                            "y": 0.6073147597400098
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473089913": {
+                    "instances": [
+                        {
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+                            "x": 0.20266661360677407,
+                            "y": 0.6206480919882738
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473183492_cs9a9k36d",
+                            "x": 0.29266660811361034,
+                            "y": 0.6566480890585865
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近充电器，方便抓取。",
+            "frame": 169,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上进一步接近充电器并调整完爪夹角度方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹张开，与充电器的水平距离进一步缩短。\n为完成拿起充电器，将其放在充电板上的任务应当:继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右方移动直至充电器正上方。",
+            "time": 5.624855755456055
+        },
+        {
+            "action_description": "爪夹下降准备抓取充电器。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.23599998079427226,
+                            "id": "bbox_1766473088871_1766473193319_7ezcywsak",
+                            "width": 0.16199999011230526,
+                            "x": 0.2806666088460322,
+                            "y": 0.3246481160768135
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473187946_zhxmgju6n",
+                            "x": 0.3256666060994503,
+                            "y": 0.7406480822226497
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹位置，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右侧移动，并且已经移动到了杯子的上方，方便抓取。",
+            "frame": 213,
+            "progress": 20,
+            "progress_explanation": "爪夹下降准备抓取充电器，距离进一步拉近。因此进度提升至20%",
+            "state_description": "当前爪夹张开，爪夹下降。\n为完成拿起充电器，将其放在充电板上的任务应当:调整爪夹位置至充电器正上方，抓取充电器。",
+            "time": 7.106814450866796
+        },
+        {
+            "action_description": "爪夹合拢，未能抓取到充电器。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.23066664789496685,
+                            "id": "bbox_1766473088871_1766473226565_3us8jimhn",
+                            "width": 0.2009999877319343,
+                            "x": 0.24166661122640312,
+                            "y": 0.32064811640233426
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.18399998502604298,
+                            "id": "bbox_1766473088997_1766473217637_aw6vzc7xe",
+                            "width": 0.13399999182128955,
+                            "x": 0.16466661592610984,
+                            "y": 0.6099814261896626
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "重新抬起并张开爪夹，调整爪夹位置，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹未能调整至充电器正上方，下降抓取充电器失败。",
+            "frame": 246,
+            "progress": 10,
+            "progress_explanation": "爪夹下降，未能抓取到充电器。因此进度下降至10%",
+            "state_description": "当前爪夹收紧，未能抓取到充电器。\n为完成拿起充电器，将其放在充电板上的任务应当:重新抬起并张开爪夹，调整爪夹位置，到达充电器正上方后下降。",
+            "time": 8.193584160834675
+        },
+        {
+            "action_description": "爪夹抬起并张开，向爪夹方向的右侧移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.23999998046875154,
+                            "id": "bbox_1766473088871_1766473239382_yxc0ezrfs",
+                            "width": 0.18299998883056712,
+                            "x": 0.2586666101888055,
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+                    "type": "bbox"
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+                "bbox_1766473088997": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766473088997_1766473250689_8mlpshkin",
+                            "width": 0.07899999517822294,
+                            "x": 0.1826666148274771,
+                            "y": 0.6273147581124057
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "继续调整爪夹位置，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上成功接近充电器，并使爪夹角度向垂直于桌面，方便抓取。",
+            "frame": 274,
+            "progress": 15,
+            "progress_explanation": "当前爪夹在水平方向上进一步接近充电器并调整完爪夹角度方便抓取，因此进度提升为15%。",
+            "state_description": "当前爪夹张开，水平方向上成功接近充��器。\n为完成拿起充电器，将其放在充电板上的任务应当:移动至充电器正上方，下降抓取充电器。",
+            "time": 9.142037725897547
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右方移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.24133331369357805,
+                            "id": "bbox_1766473088871_1766473281709_xwcu3en0b",
+                            "width": 0.20299998760986399,
+                            "x": 0.23966661134847342,
+                            "y": 0.32064811640233426
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+                    "type": "bbox"
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+                "bbox_1766473088997": {
+                    "instances": [
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+                            "id": "bbox_1766473088997_1766473264782_mohorlxt4",
+                            "width": 0.13399999182128955,
+                            "x": 0.19966661378987952,
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+                    "type": "bbox"
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+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473272680_0dp6y6cgp",
+                            "x": 0.1466666170247426,
+                            "y": 0.7246480835247328
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左方移动，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的左后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上远离充电器。",
+            "frame": 289,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上远离充电器。因此进度下降至10%",
+            "state_description": "当前爪夹与充电器的水平距离拉远。\n为完成拿起充电器，将其放在充电板上的任务应当:重新调整位置，使爪夹位置处于充电器正上方，下降抓取充电器。",
+            "time": 9.63602395770113
+        },
+        {
+            "action_description": "爪夹边下降边向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.2399999804687516,
+                            "id": "bbox_1766473088871_1766473287095_hm2eceihe",
+                            "width": 0.2019999876708992,
+                            "x": 0.23966661134847342,
+                            "y": 0.32064811640233426
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.11199999088541736,
+                            "id": "bbox_1766473088997_1766473297574_x8l65u3s9",
+                            "width": 0.0479999970703127,
+                            "x": 0.5036665952351931,
+                            "y": 0.6019814268407042
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "重新抬起爪夹，调整爪夹位置，到达充电器正上方后下降，抓取充电器后垂直上升，向爪夹方向的右后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹未移动至充电器正上方就下降，移动过多，未能抓取充电器。",
+            "frame": 312,
+            "progress": 15,
+            "progress_explanation": "爪夹下降移动，未抓取充电器，爪夹位置与充电器水平接近，因此进度提升至15%",
+            "state_description": "当前爪夹张开，未能抓取到充电器。\n为完成拿起充电器，将其放在充电板上的任务应当:重新调整爪夹位置，使爪夹位置处于充电器正上方，下降抓取充电器。",
+            "time": 10.406642479314714
+        },
+        {
+            "action_description": "爪夹抬起并向爪夹方向的左方移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
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+                            "id": "bbox_1766473088871_1766473313732_8ztdysv1t",
+                            "width": 0.17499998931884822,
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+                "point_1766473090019": {
+                    "instances": [
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+                            "x": 0.5776665907185918,
+                            "y": 0.597981427166225
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降抓取充电器后垂直上升，向爪夹方向的右后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹已经移动到了充电器的正上方，方便抓取。",
+            "frame": 345,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于充电器正上方，已接近充电器，因此进度提升为20%。",
+            "state_description": "当前当前爪夹张开，抓夹已经移动到充电器正上方。\n为完成拿起充电器，将其放在充电板上的任务应当:继续向下抓取杯子，然后向爪夹方向的的右后方移动，直至充电板正上方。",
+            "time": 11.513171638554736
+        },
+        {
+            "action_description": "爪夹向下方移动，合拢爪夹抓取充电器。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.24266664691840437,
+                            "id": "bbox_1766473088871_1766473330073_udhnsxwza",
+                            "width": 0.1959999880371101,
+                            "x": 0.23966661134847342,
+                            "y": 0.3179814499526815
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "下降抓取充电器后垂直上升，向爪夹方向的右后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到杯子。",
+            "frame": 395,
+            "progress": 40,
+            "progress_explanation": "爪夹成功抓取充电器。因此进度提升至40%",
+            "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到充电器。\n为完成拿起充电器，将其放在充电板上的任务应当:垂直抬起爪夹，然后向爪夹方向的的右后方移动，直至移动到充电板正上方。",
+            "time": 13.172965377414767
+        },
+        {
+            "action_description": "爪夹抓住充电器上升，向爪夹方向的右后方移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.23999998046875154,
+                            "id": "bbox_1766473088871_1766473341762_xkw6a2c1b",
+                            "width": 0.1909999883422858,
+                            "x": 0.24266661116536797,
+                            "y": 0.32331478285198706
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "继续向爪夹方向的右后方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹已经抓取到充电器，并且在向着充电板方向移动。",
+            "frame": 431,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住充电器，并在水平方向上逐渐接近充电板，因此进度提升为50%。",
+            "state_description": "当前爪夹合拢，垂直于桌面，抓住充电器。\n为完成拿起充电器，将其放在充电板上的任务应当:爪夹继续合拢，抓取充电器向爪夹方向的右后侧移动，直至充电板的正上方。",
+            "time": 14.378291783015504
+        },
+        {
+            "action_description": "爪夹抓住充电器向爪夹方向的右后方移动。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.2306666478949668,
+                            "id": "bbox_1766473088871_1766473367741_j71lkiu42",
+                            "width": 0.19999998779296946,
+                            "x": 0.24166661122640315,
+                            "y": 0.32598144930163986
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.24933331304253645,
+                            "id": "bbox_1766473088997_1766473356211_zgk34v02r",
+                            "width": 0.13199999194335982,
+                            "x": 0.27166660939534854,
+                            "y": 0.3419814479995566
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473089913": {
+                    "instances": [
+                        {
+                            "id": "point_1766473089913_1766473358767_9y8p48gyn",
+                            "x": 0.30766660719808303,
+                            "y": 0.39931477666709175
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+                    ],
+                    "type": "point"
+                },
+                "point_1766473090019": {
+                    "instances": [
+                        {
+                            "id": "point_1766473090019_1766473363837_k5jqlh3kd",
+                            "x": 0.3586666040852903,
+                            "y": 0.3913147773181334
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹已经抓取到充电器，并移动到了充电板的正上方。",
+            "frame": 463,
+            "progress": 60,
+            "progress_explanation": "爪夹成功抓住充电器移动至充电板正上方，因此进度提升至60%",
+            "state_description": "当前爪夹合拢抓住充电器，垂直于充电板上方。\n为完成拿起充电器，将其放在充电板上的任务应当:下降将充电器放入充电板中，松开爪夹。",
+            "time": 15.448333
+        },
+        {
+            "action_description": "爪夹下降将充电器放到充电板上。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.2266666482204876,
+                            "id": "bbox_1766473088871_1766473380369_221lu9b49",
+                            "width": 0.2019999876708992,
+                            "x": 0.23966661134847342,
+                            "y": 0.3313147822009455
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹成功抓取充电器至充电板上。",
+            "frame": 488,
+            "progress": 80,
+            "progress_explanation": "爪夹夹住充电器，下降将充电器放到充电板上。因此进度提升至80%",
+            "state_description": "当前状态为爪夹夹住充电器，下降至充电板上方。\n为完成抓起辣椒使其落入盘中的任务应当：松开爪夹，使充电器落到充电板上。",
+            "time": 16.275198913141253
+        },
+        {
+            "action_description": "爪夹松开，充电器落到充电板上。",
+            "annotations": {
+                "bbox_1766473088871": {
+                    "instances": [
+                        {
+                            "height": 0.2253333149956612,
+                            "id": "bbox_1766473088871_1766473401961_qvz7w78ie",
+                            "width": 0.20199998767089916,
+                            "x": 0.24066661128743827,
+                            "y": 0.32998144897611914
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766473088997": {
+                    "instances": [
+                        {
+                            "height": 0.20666664984809166,
+                            "id": "bbox_1766473088997_1766473396319_f78cvykd3",
+                            "width": 0.11199999316406291,
+                            "x": 0.2726666093343134,
+                            "y": 0.38998144409330693
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+                    ],
+                    "type": "bbox"
+                },
+                "point_1766473089913": {
+                    "instances": [
+                        {
+                            "id": "point_1766473089913_1766473409929_akeoyzy5g",
+                            "x": 0.32866660591634483,
+                            "y": 0.4366481069622309
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "已完成拿起充电器，将��放在充电板上",
+            "frame": 518,
+            "progress": 100,
+            "progress_explanation": "爪夹松开，充电器已经落在充电板上。因此进度提升至100%",
+            "state_description": "当前爪夹张开，充电器在充电板上。已完成拿起充电器，将其放在充电板上的动作，",
+            "time": 17.263171376748414
+        }
+    ],
+    "tags": [
+        "custom2"
+    ],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766473088871",
+            "name": "充电板"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766473088997",
+            "name": "充电器"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766473089913",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766473090019",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-171028-bad-charger-plate/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,370 @@
+{
+    "task_description": "拿起充电器，将其放在充电板上。\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近充电板：60%\n爪夹将充电器放到充电板上：80%\n爪夹松开，使充电器落入充电板上：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.26266664529080036,
+                            "id": "bbox_1766543925846_1766543948170_axssr95sx",
+                            "width": 0.21299998699951256,
+                            "x": 0.6396665869344124,
+                            "y": 0.4299814408380989
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766543925973": {
+                    "instances": [
+                        {
+                            "height": 0.2853333101128491,
+                            "id": "bbox_1766543925973_1766543957095_qskpqodga",
+                            "width": 0.1809999889526374,
+                            "x": 0.25766661024984067,
+                            "y": 0.617981425538621
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766543926614": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926614_1766543965805_9pl7ch6lz",
+                            "x": 0.4166666005452514,
+                            "y": 0.3859814444188278
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766543969257_2yyvy29yn",
+                            "x": 0.5036665952351931,
+                            "y": 0.369981445720911
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "",
+            "frame": 54,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰充电器。\n为完成抓起充电器使其落入充电板上的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的右前方移动至充电器的正上方。",
+            "time": 1.7834584539998506
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方移动，并调整爪夹角度，使其接近于垂直桌面",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
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+                            "height": 0.26799997819010596,
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+                            "width": 0.21599998681640695,
+                            "x": 0.6356665871785531,
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766543925973": {
+                    "instances": [
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+                            "width": 0.18099998895263741,
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+                },
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+                    "instances": [
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+                            "x": 0.36966660341390356,
+                            "y": 0.4446481063111893
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+                    ],
+                    "type": "point"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766543995206_9tv4ehc73",
+                            "x": 0.4736665970662477,
+                            "y": 0.4153147753650085
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近充电器，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 102,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近充电器并开始调整爪夹角度方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，爪夹与充电器的水平距离略微缩短。\n为完成抓起充电器使其落入充电板中的任务应当:继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至充电器正上方。",
+            "time": 3.392186844526666
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左前方移动，爪夹垂直于充电器上方。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.2666666449652796,
+                            "id": "bbox_1766543925846_1766544005617_f5u62a7ec",
+                            "width": 0.21499998687744223,
+                            "x": 0.6376665870564826,
+                            "y": 0.42731477438844606
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+                    "type": "bbox"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
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+                            "x": 0.33166660573323936,
+                            "y": 0.6739814209813296
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "下降抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向的右前方移动，并且已经移动到了充电器的正上方，方便抓取。",
+            "frame": 157,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于充电器正上方，已接近充电器，因此进度提升为20%。",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，垂直于充电器上方。\n为完成抓起充电器使其落入充电板中的任务应当:继续向下抓取杯子，然后向爪夹方向的左方移动，直至充电板正上方。",
+            "time": 5.217822433776199
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左后方移动，合拢爪夹。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
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+                            "id": "bbox_1766543925846_1766544039629_lumh3ezwy",
+                            "width": 0.21299998699951264,
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+                    "type": "bbox"
+                },
+                "bbox_1766543925973": {
+                    "instances": [
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+                            "id": "bbox_1766543925973_1766544023940_7cfghl54e",
+                            "width": 0.17699998919677803,
+                            "x": 0.2646666098225946,
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+                    "type": "bbox"
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+                "point_1766543926614": {
+                    "instances": [
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+                            "x": 0.6276665876668341,
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+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766544065778_d2hixs448",
+                            "x": 0.6336665873006233,
+                            "y": 0.4553147721098005
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+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "重新调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹方向左方移动，远离充电器。",
+            "frame": 226,
+            "progress": 5,
+            "progress_explanation": "爪夹远离充电器，因此进度下降至5%",
+            "state_description": "当前爪夹合拢，与充电器的水平距离拉远。\n为完成抓起充电器使其落入充电板中的任务应当:调整爪夹方向直到垂直于桌面，向爪夹方向的右方移动至充电器的正上方。",
+            "time": 7.531499220151844
+        },
+        {
+            "action_description": "爪夹向爪夹方向右方移动，张开爪夹。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.26666664496527953,
+                            "id": "bbox_1766543925846_1766544075468_rvpn0lhw7",
+                            "width": 0.21599998681640695,
+                            "x": 0.7176665821736705,
+                            "y": 0.4473147727608421
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766543925973": {
+                    "instances": [
+                        {
+                            "height": 0.29066664301215467,
+                            "id": "bbox_1766543925973_1766544086065_t2p4nju8m",
+                            "width": 0.1809999889526374,
+                            "x": 0.2616666100057,
+                            "y": 0.6126480926393154
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+                    "type": "bbox"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766544095810_jumv3uhyd",
+                            "x": 0.5066665950520877,
+                            "y": 0.6379814239110169
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "抬起爪夹，向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹角度成功调整至垂直于桌面，继续向充电器移动。",
+            "frame": 288,
+            "progress": 10,
+            "progress_explanation": "爪夹向爪夹方向右方移动，张开爪夹，靠近充电器。因此进度提升至10%",
+            "state_description": "当前爪夹张开，垂直于桌面，与充电器的水平距离拉近。\n为完成抓起充电器使其落入充电板中的任务应当:抬起爪夹向爪夹方向的右方移动至充电器的正上方，下降抓取充电器。",
+            "time": 9.592117608017652
+        },
+        {
+            "action_description": "爪夹抬起，向爪夹方向右方移动。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.26799997819010596,
+                            "id": "bbox_1766543925846_1766544102655_dsbvixmw8",
+                            "width": 0.21399998693847727,
+                            "x": 0.7186665821126353,
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+                    "type": "bbox"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766544109953_t25g7r5mv",
+                            "x": 0.39166660207113024,
+                            "y": 0.8166480760377542
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的后方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹抬起，继续向充电器移动。",
+            "frame": 365,
+            "progress": 15,
+            "progress_explanation": "爪夹向爪夹方向右方移动，张开爪夹，靠近充电器。因此进度提升至15%",
+            "state_description": "当前爪夹张开，与充电器的水平距离进一步拉近。\n为完成抓起充电器使其落入充电板中的任务应当:向爪夹方向的后方移动至充电器的正上方，下降抓取充电器。",
+            "time": 12.158852792903133
+        },
+        {
+            "action_description": "爪夹向爪夹方向的后方移动至充电器上方。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.26666664496527964,
+                            "id": "bbox_1766543925846_1766544115154_pn8vcu39o",
+                            "width": 0.21699998675537194,
+                            "x": 0.7176665821736704,
+                            "y": 0.4473147727608421
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+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹向爪夹的下方移动，抓取充电器。",
+            "frame": 432,
+            "progress": 40,
+            "progress_explanation": "当前爪夹抓取充电器。因此进度提升为40%。",
+            "state_description": "当前爪夹合拢，垂直于充电器上方。\n为完成抓起充电器使其落入充电板中的任务应当:成功抓取充电器后，垂直抬起爪夹，然后向爪夹方向的左边移动。",
+            "time": 14.40022717970454
+        },
+        {
+            "action_description": "爪夹松开充电器，充电器掉落。",
+            "annotations": {
+                "bbox_1766543925846": {
+                    "instances": [
+                        {
+                            "height": 0.26666664496527953,
+                            "id": "bbox_1766543925846_1766544136465_zlq5fuu2j",
+                            "width": 0.21599998681640703,
+                            "x": 0.7166665822347056,
+                            "y": 0.4473147727608421
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+                    "type": "bbox"
+                },
+                "point_1766543926746": {
+                    "instances": [
+                        {
+                            "id": "point_1766543926746_1766544150257_y1g50ml2r",
+                            "x": 0.46266659773763436,
+                            "y": 0.6046480932903571
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于充电器。到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的左方移动，直至充电器处于充电板正上方。下降将充电器放入充电板中，松开爪夹，使充电器落入充电板上。",
+            "error_success_analysis": "爪夹松开，充电器掉落，抓取失败。",
+            "frame": 502,
+            "progress": -20,
+            "progress_explanation": "爪夹松开导致充电器掉落。因此进度降低至-20%",
+            "state_description": "当前爪夹松开，充电器掉落至桌子上。\n为完成抓起充电器使其落入充电板中的任务应当:调整爪夹方向直到垂直于充电器，重新抓取充电器。",
+            "time": 16.744333
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766543925846",
+            "name": "充电板"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766543925973",
+            "name": "充电器"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766543926614",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766543926746",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-174108-mix-radiator-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json

@@ -0,0 +1,768 @@
+{
+    "task_description": "拿起散热器，将其放入快递箱中。\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近快递箱：60%\n爪夹将散热器放入快递箱中：80%\n爪夹松开，使散热器落入快递箱中：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹保持打开状态，暂未移动。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
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+                            "id": "bbox_1766556123173_1766556191806_28xtkynqm",
+                            "width": 0.36599997766113396,
+                            "x": 0.6346665872395881,
+                            "y": 0.08864813528254108
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556123290": {
+                    "instances": [
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+                            "id": "bbox_1766556123290_1766556206350_4mjrnqnot",
+                            "width": 0.24399998510742274,
+                            "x": 0.15166661671956685,
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+                    "type": "bbox"
+                },
+                "point_1766556124109": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124109_1766556218275_jeoh0br57",
+                            "x": 0.40966660097249746,
+                            "y": 0.3913147773181334
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+                    ],
+                    "type": "point"
+                },
+                "point_1766556124246": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124246_1766556221260_rby6jr5q7",
+                            "x": 0.5086665949300173,
+                            "y": 0.37264811217056376
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达散热器正上方后下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "",
+            "frame": 51,
+            "progress": 0,
+            "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%",
+            "state_description": "当前状态为爪夹打开，没有移动，没有触碰散热器。\n为完成抓起散热器使其落入快递箱中的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的右方移动至散热器的正上方。",
+            "time": 1.692587703191591
+        },
+        {
+            "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面",
+            "annotations": {
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+                    "instances": [
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+                            "width": 0.3659999776611341,
+                            "x": 0.6326665873616584,
+                            "y": 0.08731480205771468
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+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556123290": {
+                    "instances": [
+                        {
+                            "height": 0.1706666527777789,
+                            "id": "bbox_1766556123290_1766556247938_calgr18ne",
+                            "width": 0.24099998529052818,
+                            "x": 0.15666661641439109,
+                            "y": 0.39398144376778615
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+                    "type": "bbox"
+                },
+                "point_1766556124109": {
+                    "instances": [
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+                            "x": 0.36666660359700903,
+                            "y": 0.31531478350302866
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+                    "type": "point"
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+                "point_1766556124246": {
+                    "instances": [
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+                            "id": "point_1766556124246_1766556259735_mstwggg2k",
+                            "x": 0.478666596761072,
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+            "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达散热器正上方后下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上成功接近散热器，并使爪夹角度向垂直于桌面调整，方便抓取。",
+            "frame": 92,
+            "progress": 10,
+            "progress_explanation": "当前爪夹在水平方向上略微接近散热器并开始调整爪夹角度方便抓取，因此进度提升为10%。",
+            "state_description": "当前爪夹张开，爪夹位置抬升。\n为完成抓起散热器使其落入快递箱中的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的右方移动至散热器的正上方。",
+            "time": 3.077432996465561
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+        {
+            "action_description": "爪夹向爪夹的左侧移动到散热器正上方。",
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+            "correction_plan": "下降抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了散热器的正上方，方便抓取。",
+            "frame": 135,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于散热器正上方，已接近散热器，因此进度提升为20%。",
+            "state_description": "当前爪夹张开，与水平方向呈90度角，抓夹已经移动到散热器正上方。\n为完成抓起散热器使其落入快递箱中的任务应当：下降抓取散热器后竖直上升，向爪夹方向的右方移动。",
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+            "correction_plan": "抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹成功移动至散热器正上方，爪夹向爪夹的下方移动，并成功抓取到散热器。",
+            "frame": 189,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已抓取到散热器，因此进度提升为40%。",
+            "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到散热器。\n为完成抓起散热器使其落入快递箱中的任务应当：抓取散热器后竖直上升，向爪夹方向的右方移动。",
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+        {
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+            "correction_plan": "继续向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹已经抓取到散热器，并且在向着散热器方向移动。",
+            "frame": 216,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住散热器并抬起爪夹，并在水平方向上逐渐接近杯子，因此进度提升至50%。",
+            "state_description": "当前爪夹合拢抓住散热器，垂直于桌面。\n为完成抓起散热器使其落入快递箱中的任务应当：向爪夹方向的左方移动，直至散热器处于快递箱正上方。",
+            "time": 7.207673344826524
+        },
+        {
+            "action_description": "爪夹移动中松开，散热器掉落至桌面。",
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+                    "instances": [
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+                    "type": "point"
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+            },
+            "correction_plan": "重新调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达散热器正上方后下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹在移动中松开，导致散热器掉落。",
+            "frame": 256,
+            "progress": 10,
+            "progress_explanation": "爪夹松开散热器掉落至桌面。因此进度下降至10%",
+            "state_description": "当前爪夹张开，垂直于桌面，散热器掉落至桌面。\n为完成抓起散热器使其落入快递箱中的任务应当：调整爪夹位置，移动至散热器正上方。",
+            "time": 8.519632043717657
+        },
+        {
+            "action_description": "爪夹向爪夹方向的右方移动。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
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+            },
+            "correction_plan": "新调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达散热器正上方后下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹移动方向错误，导致远离散热器。",
+            "frame": 307,
+            "progress": -10,
+            "progress_explanation": "爪夹向爪夹方向的右方移动，导致爪夹水平距离远离散热器。因此进度下降至-10%",
+            "state_description": "当前爪夹合拢，与散热器水平距离拉远。\n为完成抓起散热器使其落入快递箱中的任务应当：调整爪夹角度至垂直于桌面，向爪夹方向的左方移动。",
+            "time": 10.24461477744488
+        },
+        {
+            "action_description": "爪夹向爪夹方向的左方移动，同时调整爪夹角度垂直于桌面。",
+            "annotations": {
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+            "correction_plan": "向爪夹方向的左方移动，到达散热器正上方后下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹成功垂直于桌面，与散热器距离拉近。",
+            "frame": 341,
+            "progress": 10,
+            "progress_explanation": "爪夹垂直于桌面，与与散热器水平距离拉近，因此进度提升至10%",
+            "state_description": "当前爪夹张开，垂直于桌面，与散热器水平距离拉近。\n为完成抓起散热器使其落入快递箱中的任务应当：抬起爪夹向爪夹方向的左方移动，移动至散热器上方。",
+            "time": 11.362209224648433
+        },
+        {
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+                    "instances": [
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+            "error_success_analysis": "爪夹合拢并向爪夹方向的左方移动，进一步靠近散热器。",
+            "frame": 410,
+            "progress": 15,
+            "progress_explanation": "爪夹合拢并进一步靠近散热器，因此进度提升至15%",
+            "state_description": "当前爪夹合拢，垂直于桌面，与散热器水平距离进一步拉近。\n为完成抓起散热器使其落入快递箱中的任务应当：继续向爪夹方向的左方移动，移动至散热器上方并张开爪夹。",
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+        },
+        {
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+            "correction_plan": "向爪夹方向的左方移动，到达散热器正上方后张开爪夹并下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹张开并抬起，与散热器距离拉远。",
+            "frame": 451,
+            "progress": 10,
+            "progress_explanation": "爪夹张开，向爪夹方向的右方移动，与散热器距离拉远。因此进度降低至10%。",
+            "state_description": "当前爪夹张开，垂直于桌面，与散热器水平距离拉远。\n为完成抓起散热器使其落入快递箱中的任务应当：向爪夹方向的左方移动，移动至散热器上方。",
+            "time": 15.030834475251408
+        },
+        {
+            "action_description": "爪夹向爪夹的左侧移动到散热器正上方。",
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+                },
+                "point_1766556124109": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124109_1766556550903_5t3h3vi0p",
+                            "x": 0.5976665894978888,
+                            "y": 0.6206480919882738
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹并下降，抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了散热器的正上方，方便抓取。",
+            "frame": 489,
+            "progress": 20,
+            "progress_explanation": "当前爪夹已悬空于散热器正上方，已接近散热器，因此进度提升为20",
+            "state_description": "当前爪夹张开，垂直于散热器正上方。\n为完成抓起散热器使其落入快递箱中的任务应当：爪夹并下降，抓取散热器后竖直上升。",
+            "time": 16.284566
+        },
+        {
+            "action_description": "爪夹合拢夹取散热器。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
+                        {
+                            "height": 0.48533329383680873,
+                            "id": "bbox_1766556123173_1766556557513_6f0tcmy6d",
+                            "width": 0.3529999784545911,
+                            "x": 0.6496665863240608,
+                            "y": 0.08464813560806189
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "抓取散热器后竖直上升，向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到杯子。",
+            "frame": 516,
+            "progress": 40,
+            "progress_explanation": "当前爪夹已抓取散热器，因此进度提升为40%。",
+            "state_description": "当前爪夹夹住散热器，垂直于桌面。\n为完成抓起散热器使其落入快递箱中的任务应当：抓取散热器后竖直上升，向爪夹方向的左方移动。",
+            "time": 17.19313677527568
+        },
+        {
+            "action_description": "爪夹垂直上升，抓住散热器向爪夹方向的左侧移动。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
+                        {
+                            "height": 0.4893332935112879,
+                            "id": "bbox_1766556123173_1766556663761_z1bhq4ktn",
+                            "width": 0.35899997808838,
+                            "x": 0.6456665865682015,
+                            "y": 0.08198146915840909
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556123290": {
+                    "instances": [
+                        {
+                            "height": 0.1666666531032997,
+                            "id": "bbox_1766556123290_1766556576132_y7x1bm31s",
+                            "width": 0.2569999843139657,
+                            "x": 0.5346665933431034,
+                            "y": 0.21264812519139606
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556124109": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124109_1766556586108_2qcn4ftx3",
+                            "x": 0.563666591573084,
+                            "y": 0.3179814499526815
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向爪夹方向的左方移动，直至散热器处于快递箱正上方。下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹已经抓取到散热器，爪夹抬升准备移动至快递箱上方。",
+            "frame": 554,
+            "progress": 50,
+            "progress_explanation": "当前爪夹已抓住散热器，并抬起爪夹，因此进度提升为50%。",
+            "state_description": "当前爪夹夹住散热器，垂直于桌面。\n为完成抓起散热器使其落入快递箱中的任务应当：向爪夹方向的左方移动，直至散热器处于快递箱正上方。",
+            "time": 18.456504411244914
+        },
+        {
+            "action_description": "爪夹移动至快递箱正上方。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
+                        {
+                            "height": 0.46399996223958634,
+                            "id": "bbox_1766556123173_1766556680878_bb57haiwq",
+                            "width": 0.3569999782104505,
+                            "x": 0.6476665864461312,
+                            "y": 0.10731480043011064
+                        }
+                    ],
+                    "type": "bbox"
+                }
+            },
+            "correction_plan": "下降将散热器放入快递箱中，松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹已经抓取到散热器，并移动到了快递箱的正上方。",
+            "frame": 584,
+            "progress": 60,
+            "progress_explanation": "当前爪夹已抓住散热器，并移动到了快递箱的正上方，因此进度提升为60",
+            "state_description": "当前爪夹夹住散热器，垂直于快递箱上。\n为完成抓起散热器使其落入快递箱中的任务应当：下降将散热器放入快递箱中，松开爪夹。",
+            "time": 19.45262120114373
+        },
+        {
+            "action_description": "爪夹夹住散热器，开始下降使充电器更接近快递箱。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
+                        {
+                            "height": 0.4839999606119824,
+                            "id": "bbox_1766556123173_1766556706982_ee11pirvo",
+                            "width": 0.352999978454591,
+                            "x": 0.6506665862630256,
+                            "y": 0.08598146883288835
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556123290": {
+                    "instances": [
+                        {
+                            "height": 0.18933331792534852,
+                            "id": "bbox_1766556123290_1766556731590_xibyvzwyd",
+                            "width": 0.18399998876953189,
+                            "x": 0.766666579182948,
+                            "y": 0.12064813267837463
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556124109": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124109_1766556703319_9dfgtbzld",
+                            "x": 0.838666574788417,
+                            "y": 0.27931478643271596
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "松开爪夹，使散热器落入快递箱中。",
+            "error_success_analysis": "爪夹成功移动至快递箱正上方，开始下降使充电器更接近快递箱。",
+            "frame": 624,
+            "progress": 80,
+            "progress_explanation": "爪夹夹住充电器下降使充电器更接近快递箱。因此进度提升至80%",
+            "state_description": "当前爪夹夹住散热器，垂直于快递箱上方。\n为完成抓起散热器使其落入快递箱中的任务应当：松开爪夹，使散热器落入快递箱中。",
+            "time": 20.813170962956757
+        },
+        {
+            "action_description": "松开爪夹，使散热器落入快递箱中。",
+            "annotations": {
+                "bbox_1766556123173": {
+                    "instances": [
+                        {
+                            "height": 0.4933332931857671,
+                            "id": "bbox_1766556123173_1766556769858_14kuwmt2p",
+                            "width": 0.346999978820802,
+                            "x": 0.6576665858357796,
+                            "y": 0.07664813625910351
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "bbox_1766556123290": {
+                    "instances": [
+                        {
+                            "height": 0.16933331955295255,
+                            "id": "bbox_1766556123290_1766556754041_j4q1l1vqn",
+                            "width": 0.14299999127197313,
+                            "x": 0.7616665794881238,
+                            "y": 0.26198145450997273
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766556124109": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124109_1766556744883_p04o6utcx",
+                            "x": 0.6716665849812875,
+                            "y": 0.3953147769926125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766556124246": {
+                    "instances": [
+                        {
+                            "id": "point_1766556124246_1766556750579_g9pr6w2eq",
+                            "x": 0.7616665794881238,
+                            "y": 0.3166481167278551
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "散热器成功落入快递箱中。",
+            "frame": 662,
+            "progress": 100,
+            "progress_explanation": "爪夹松开充电器，散热器成功放入快递箱中。因此进度提升至100%",
+            "state_description": "当前状态为爪夹松开充，散热器成功落入快递箱中。已完成爪夹松开，使散热器落入快递箱中的任务。",
+            "time": 22.076538598925993
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766556123173",
+            "name": "快递箱"
+        },
+        {
+            "color": "#FF9800",
+            "id": "bbox_1766556123290",
+            "name": "散热器"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766556124109",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766556124246",
+            "name": "爪夹右"
+        }
+    ]
+}

annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json

@@ -0,0 +1,333 @@
+{
+    "task_description": "打开烤箱门\n准备开始移动：0%\n开始接近烤箱：20%\n触碰到烤箱门：50%\n开始打开烤箱门：75%\n打开烤箱门：90%\n烤箱门完全打开：100%",
+    "progress_points": [
+        {
+            "action_description": "爪夹暂未移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.3484444444444445,
+                            "id": "bbox_1766976930530_1766976966641_xw1cmxnie",
+                            "width": 0.2899999822998057,
+                            "x": 0.6393332739664749,
+                            "y": 0.43918518066406254
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977236380_ro9z4lneo",
+                            "x": 0.5653332784830762,
+                            "y": 0.4421481391059027
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977238955_lnpcn2o49",
+                            "x": 0.6143332754923537,
+                            "y": 0.5310370279947917
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹向左前侧移动至烤箱门口，向下移动开始打开烤箱门口，继续向下移动将烤箱门完全打开。",
+            "error_success_analysis": "",
+            "frame": 27,
+            "progress": 0,
+            "progress_explanation": "爪夹暂未移动，进度0%。",
+            "state_description": "当前状态为爪夹朝向下，保持张开。\n为了完成打开烤箱门的任务应当：爪夹向左前方移动至烤箱门口。",
+            "time": 0.9033671960973243
+        },
+        {
+            "action_description": "爪夹向下移动，并稍微向左前方移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.3626666666666667,
+                            "id": "bbox_1766976930530_1766977051909_ikrrf9mea",
+                            "width": 0.30999998107910276,
+                            "x": 0.6463332735392289,
+                            "y": 0.4285185139973958
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977245756_88vq1df8l",
+                            "x": 0.5343332803751659,
+                            "y": 0.6128148057725695
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977248300_6huo50pay",
+                            "x": 0.5833332773844435,
+                            "y": 0.6554814724392362
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹继续向左前侧移动至烤箱门口上方，向下移动开始打开烤箱门口，继续向下移动将烤箱门完全打开。",
+            "error_success_analysis": "爪夹调整角度，成功开始移动。",
+            "frame": 89,
+            "progress": 10,
+            "progress_explanation": "当前状态为爪夹向下，靠近桌面。\n为了完成打开烤箱门的任务应当：爪夹向左前方移动至烤箱门口。",
+            "state_description": "当前状态为爪夹保持张开，稍微接近烤箱。\n为了完成打开烤箱门的任务应当：爪夹向左前方移动至烤箱门口。",
+            "time": 2.9796557252451645
+        },
+        {
+            "action_description": "先向下移动，然后向左前侧移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.2879999999999999,
+                            "id": "bbox_1766976930530_1766977254836_1ei08nqr0",
+                            "width": 0.30599998132324335,
+                            "x": 0.6293332745768264,
+                            "y": 0.4534074028862847
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977257529_sj7lot0aj",
+                            "x": 0.5823332774454786,
+                            "y": 0.440370361328125
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977259731_k2l0hcdzt",
+                            "x": 0.6393332739664749,
+                            "y": 0.4759259168836806
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "爪夹移动至烤箱门口上方，向下移动开始打开烤箱门口，继续向下移动将烤箱门完全打开。",
+            "error_success_analysis": "爪夹移动角度正确，成功接近烤箱。",
+            "frame": 171,
+            "progress": 20,
+            "progress_explanation": "爪夹接近烤箱，进度20%。",
+            "state_description": "当前状态为爪夹张开，接近烤箱。\n为了完成打开烤箱门的任务应当：继续向烤箱门移动，然后向下移动开始打开烤箱门口。",
+            "time": 5.7116143162291655
+        },
+        {
+            "action_description": "爪夹向前移动，然后向下移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.2506666666666667,
+                            "id": "bbox_1766976930530_1766977264627_7m2ep89c2",
+                            "width": 0.3049999813842785,
+                            "x": 0.626333274759932,
+                            "y": 0.44096295844184025
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977267307_1oife45qe",
+                            "x": 0.6413332738444046,
+                            "y": 0.4670370279947917
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977269469_o8xcw8ju5",
+                            "x": 0.6843332712198931,
+                            "y": 0.5025925835503473
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "向下移动开始打开烤箱门口，继续向下移动将烤箱门完全打开。",
+            "error_success_analysis": "爪夹向下角度正确，成功触碰到烤箱。",
+            "frame": 280,
+            "progress": 50,
+            "progress_explanation": "爪夹触碰到烤箱门，进度50%。",
+            "state_description": "当前状态为爪夹触碰到烤箱门。\n为了完成打开烤箱门的任务应当：爪夹继续向下移动，将烤箱门打开。",
+            "time": 9.317799656328045
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.35555555555555557,
+                            "id": "bbox_1766976930530_1766977283745_vx0bp59oc",
+                            "width": 0.3059999813232433,
+                            "x": 0.6393332739664749,
+                            "y": 0.4314814724392362
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977279241_t7pm0nzfh",
+                            "x": 0.6343332742716508,
+                            "y": 0.5505925835503472
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977276195_vokq2f1sr",
+                            "x": 0.6623332725626664,
+                            "y": 0.5790370279947916
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "继续向下移动，将烤箱门完全打开。",
+            "error_success_analysis": "爪夹角度正确，成功向下移动烤箱门。",
+            "frame": 335,
+            "progress": 75,
+            "progress_explanation": "爪夹开始将烤箱门打开，进度75%。",
+            "state_description": "当前状态为爪夹向下，爪夹压着烤箱门。\n为了完成打开烤箱门的任务应当：爪夹继续向下移动，将烤箱门完全打开。",
+            "time": 11.153675829469293
+        },
+        {
+            "action_description": "爪夹向下移动，然后稍微向上，然后稍微向下。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.35555555555555546,
+                            "id": "bbox_1766976930530_1766977289285_5ye16nzxv",
+                            "width": 0.2999999816894542,
+                            "x": 0.6423332737833695,
+                            "y": 0.4279259168836806
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977295194_1hli3gz0t",
+                            "x": 0.6043332761027053,
+                            "y": 0.5665925835503473
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977297426_s3g2n24j7",
+                            "x": 0.6283332746378616,
+                            "y": 0.6092592502170139
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "稍微向下移动，将烤箱门全部打开。",
+            "error_success_analysis": "爪夹向下移动正确，成功将烤箱门打开。",
+            "frame": 451,
+            "progress": 90,
+            "progress_explanation": "当前烤箱门接近全部打开，进度90%。",
+            "state_description": "当前状态为爪夹压着烤箱门，烤箱门接近全部打开。\n为了完成打开烤箱门的任务应当：爪夹继续向下移动，将烤箱门完全打开。",
+            "time": 15.04398486303051
+        },
+        {
+            "action_description": "爪夹向下移动。",
+            "annotations": {
+                "bbox_1766976930530": {
+                    "instances": [
+                        {
+                            "height": 0.37155555555555553,
+                            "id": "bbox_1766976930530_1766977305307_pb9jptar2",
+                            "width": 0.30299998150634877,
+                            "x": 0.6433332737223343,
+                            "y": 0.42614813910590277
+                        }
+                    ],
+                    "type": "bbox"
+                },
+                "point_1766976931384": {
+                    "instances": [
+                        {
+                            "id": "point_1766976931384_1766977307837_ubh5kji32",
+                            "x": 0.6243332748820023,
+                            "y": 0.5719259168836806
+                        }
+                    ],
+                    "type": "point"
+                },
+                "point_1766976944514": {
+                    "instances": [
+                        {
+                            "id": "point_1766976944514_1766977310027_6zqhu0llg",
+                            "x": 0.6413332738444046,
+                            "y": 0.600370361328125
+                        }
+                    ],
+                    "type": "point"
+                }
+            },
+            "correction_plan": "",
+            "error_success_analysis": "爪夹移动幅度正确，成功将烤箱门打开。",
+            "frame": 554,
+            "progress": 100,
+            "progress_explanation": "爪夹将烤箱门打开，进度100%。",
+            "state_description": "当前状态为烤箱门打开，爪夹离开烤箱门。\n",
+            "time": 18.45346918457854
+        }
+    ],
+    "tags": [],
+    "bbox_targets": [
+        {
+            "color": "#4CAF50",
+            "id": "bbox_1766976930530",
+            "name": "烤箱"
+        }
+    ],
+    "point_targets": [
+        {
+            "color": "#2196F3",
+            "id": "point_1766976931384",
+            "name": "爪夹左"
+        },
+        {
+            "color": "#F44336",
+            "id": "point_1766976944514",
+            "name": "爪夹右"
+        }
+    ]
+}