diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json new file mode 100644 index 0000000000000000000000000000000000000000..cf5e18b4c1e010f756bd8c71773789c6e3b7162c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json @@ -0,0 +1,100 @@ +{ + "task_description": "抓取黑色外套放在圆桌上：\n准备开始移动：0%\n爪夹靠近黑色外套：20%\n爪夹抓取黑色外套：40%\n爪夹抓紧黑色外套接近桌面：60%\n爪夹将黑色外套放在桌面：80%\n爪夹松开黑色外套落在桌面：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的黑色外套移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色外套的正上方。接着落下爪夹靠近黑色外套，接近黑色外套后爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色外套，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色外套，未开始移动。\n为完成抓取黑色外套放在圆桌上的任务应当：爪夹向爪夹左前方的黑色外套移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色外套的正上方。", + "time": 1.0408695652173914 + }, + { + "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", + "correction_plan": "爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑色外套，方便抓取。", + "frame": 65, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色外套。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，靠近了黑色外套。准备抓取黑色外套。\n为完成抓取黑色外套放在圆桌的任务应当：爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近。", + "time": 2.156086956521739 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色外套。", + "frame": 95, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑色外套。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑色外套，爪夹角度与桌面接近垂直。\n为完成抓取黑色外套放在圆桌的任务应当：抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近。", + "time": 3.1721739130434785 + }, + { + "time": 4.8906, + "frame": 147, + "progress": 50, + "action_description": "爪夹夹紧黑色外套，垂直升高，向爪夹左前方移动。", + "state_description": "爪夹合拢夹紧黑色外套，水平上接近了圆桌。\n为完成抓取黑色外套放在圆桌上的任务应当：继续向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "progress_explanation": "爪夹合拢夹紧黑色外套，垂直升高并向爪夹下边的铁圆桌近。缩短了与圆桌的距离。因此进度提升为 50%", + "error_success_analysis": "爪夹合拢继续夹紧黑色外套，水平上接近了圆桌。更加方便接近圆桌。", + "correction_plan": "继续向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 6.369130434782609, + "frame": 191, + "progress": 60, + "action_description": "爪夹夹紧黑色外套，向爪夹左前方移动。", + "state_description": "爪夹夹紧黑色外套，爪夹角度接近垂直于桌面，位于圆桌正上方。\n为完成抓取黑色外套放在圆桌上的任务应当：爪夹水平到达圆桌的正上方后并下降至合适的位置", + "progress_explanation": "爪夹夹紧黑色外套，到达爪夹左前方的圆桌正上方，方便将黑色外套放在圆桌上。因此进度提升为60%", + "error_success_analysis": "爪夹到达爪夹左前方的圆桌正上方，方便将黑色外套放在圆桌上。", + "correction_plan": "爪夹水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 8.128695652173914, + "frame": 244, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧黑色外套，爪夹角度接近垂直于桌面，下降至合适位置。\n为完成抓取黑色外套放在圆桌上的任务应当：松开爪夹，使黑色外套落在圆桌上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降到合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降到合适位置。", + "correction_plan": "松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 9.615652173913045, + "frame": 288, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下与桌面。\n爪夹抓取黑色外套放在圆桌上的任务完成。", + "progress_explanation": "爪夹张开，黑色外套落在圆桌上的任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，黑色外套落在圆桌上。", + "correction_plan": "抓取黑色外套放在圆桌的任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767164411839", + "name": "黑色外套", + "color": "#4CAF50" + }, + { + "id": "bbox_1767164413098", + "name": "圆桌", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767164423447", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767164423627", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..a159ddc0f69c8c260b8e2d681d8939f16919adf5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json @@ -0,0 +1,115 @@ +{ + "task_description": "爪夹关闭咖啡机的盖子：\n准备开始移动：0%\n爪夹靠近咖啡机盖子：20%\n爪夹准备按压咖啡机盖子：40%\n爪夹按压咖啡机盖子：60%\n爪夹按压咖啡机盖子至完全闭合：80%\n爪夹下压咖啡机把手完全闭合：100%", + "progress_points": [ + { + "time": 0.6239114102074911, + "frame": 19, + "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，远离咖啡机盖子，未开始移动。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹向爪夹右前方的咖啡机移动，同时调整爪夹的角度使其垂直于桌面，并移动到咖啡机的正上方。", + "progress_explanation": "当前为初始状态，远离咖啡机，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的咖啡机移动，同时调整爪夹的角度使其垂直于桌面，并移动到咖啡机的正上方。接着落下爪夹靠近咖啡机盖子，接近咖啡机盖子后爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 2.865714, + "frame": 86, + "progress": 20, + "action_description": "爪夹向爪夹右前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，靠近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了咖啡机，方便关闭。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了咖啡机，方便关闭。", + "correction_plan": "爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 4.989952, + "frame": 150, + "progress": 40, + "action_description": "爪夹合拢，准备按压咖啡机盖子。", + "state_description": "爪夹合拢准备按压，爪夹角度与桌面接近垂直。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹接触咖啡机盖子垂直向下按压咖啡机盖子。", + "progress_explanation": "爪夹合拢准备按压咖啡机盖子。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便关闭咖啡机盖子。", + "correction_plan": "爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 8.149133, + "frame": 244, + "progress": 60, + "action_description": "爪夹按压咖啡机盖子，垂直向下。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，位于咖啡机正上方。\n为完成爪夹关闭咖啡机盖子的任务应当：咖啡机盖子完全闭合后下压咖啡机把手。", + "progress_explanation": "爪夹合拢，到了爪夹右前方的咖啡机正上方，方便关闭。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了咖啡机正上方，方便关闭咖啡机盖子。", + "correction_plan": "咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升。" + }, + { + "time": 10.190601, + "frame": 306, + "progress": 20, + "action_description": "爪夹重新向爪夹右前方移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子", + "progress_explanation": "爪夹较低接近垂直于桌面，重新靠近了咖啡机。因此进度降低为20%", + "error_success_analysis": "爪夹较低接近垂直于桌面，重新靠近了咖啡机。", + "correction_plan": "爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 12.374302734696114, + "frame": 371, + "progress": 50, + "action_description": "爪夹合拢，垂直升高，向爪夹右前方移动。", + "state_description": "爪夹合拢，水平上接近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：继续向爪夹右前方的咖啡机接近，爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹合拢，垂直升高并向爪夹右前方的咖啡机接近。因此进度提升为50%", + "error_success_analysis": "爪夹合拢，水平上接近了咖啡机盖子。方便关闭咖啡机盖子。", + "correction_plan": "继续向爪夹右前方的咖啡机接近，爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 13.668466, + "frame": 410, + "progress": 60, + "action_description": "爪夹合拢，向爪夹右前方移动。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，位于咖啡机盖子正上方。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹合拢，位于咖啡机盖子正上方。因此进度提升为60%", + "error_success_analysis": "爪夹合拢，位于咖啡机盖子正上方。方便关闭咖啡机盖子。", + "correction_plan": "爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 15.616466, + "frame": 468, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹角度接近垂直于桌面，爪夹持续按压。\n为完成爪夹关闭咖啡机盖子的任务应当：咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹角度接近垂直于桌面，持续按压咖啡机盖子。因此进度提升为 80%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，持续按压咖啡机盖子。", + "correction_plan": "咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 19.445334682175993, + "frame": 583, + "progress": 100, + "action_description": "爪夹下压咖啡机把手完全闭合", + "state_description": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。\n爪夹关闭咖啡机盖子的任务完成。", + "progress_explanation": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。", + "correction_plan": "爪夹关闭咖啡机盖子的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767495801952", + "name": "咖啡机盖子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767495814314", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767495815112", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..6b20c41e1d19b632f498f971bb1b05adfb22ffc7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json @@ -0,0 +1,157 @@ +{ + "task_description": "抓取衣架放在黑色置物架上：\n准备开始移动：0%\n爪夹靠近衣架：20%\n爪夹抓取衣架：40%\n爪夹抓紧衣架：60%\n爪夹将衣架放在黑色置物架：80%\n爪夹松开衣架落在黑色置物架：100%", + "progress_points": [ + { + "time": 1.553691060135167, + "frame": 47, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，远离衣架，未开始移动。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹向爪夹前方的衣架移动，同时调整爪夹的角度使其平行于桌面，并移动到衣架的正前方。", + "progress_explanation": "当前为初始状态，远离衣架，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的衣架移动，同时调整爪夹的角度使其平行于桌面，并移动到衣架的正前方。接着爪夹靠近衣架，接近衣架后爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。", + "annotations": {} + }, + { + "time": 3.853333, + "frame": 116, + "progress": 20, + "action_description": "爪夹向爪夹前方移动并平行向前移动，调整爪夹角度。", + "state_description": "爪夹角度接近平行于桌面，靠近了衣架。准备抓取衣架。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近。", + "progress_explanation": "爪夹角度接近平行于桌面，靠近了衣架。方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹平行向前移动，靠近了衣架，方便抓取。", + "correction_plan": "爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 7.205733, + "frame": 216, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到衣架，爪夹角度于桌面接近平行。\n为完成抓取衣架放在黑色置物架的任务应当：抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近。", + "progress_explanation": "爪夹合拢抓取到衣架，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近平行于桌面，方便爪夹合拢抓取到衣架。", + "correction_plan": "抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 13.139866, + "frame": 394, + "progress": 50, + "action_description": "爪夹夹紧衣架，垂直下降，向爪夹后方移动。", + "state_description": "爪夹合拢夹紧衣架，时评上接近了黑色置物架。\n为完成抓取衣架放在黑色置物架的任务应当：继续向爪夹后方黑色置物架接近 ，水平到达黑色置物架的正上方后，垂直下降到合适的位置", + "progress_explanation": "爪夹合拢夹紧衣架，垂直下降并向爪夹后方的黑色置物架接近，缩短了于黑色置物架的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧衣架，水平上接近了黑色置物架。更加方便接近黑色置物架。", + "correction_plan": "继续向爪夹后方黑色置物架接近 ，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 19.623198484625984, + "frame": 589, + "progress": 60, + "action_description": "爪夹夹紧衣架，向爪夹后方移动。", + "state_description": "爪夹夹紧衣架，爪夹角度接近垂直于桌面。位于黑色置物架正上方。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹垂直下降到合适的位置", + "progress_explanation": "爪夹夹紧衣架，到达爪夹后方的黑色置物架正上方，方便衣架落在黑色置物架上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了黑色置物架正上方，方便衣架落在黑色置物架上。", + "correction_plan": "水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 25.053518604398068, + "frame": 752, + "progress": 70, + "action_description": "爪夹调整角度，接近黑色置物架。", + "state_description": "爪夹夹紧衣架，接近了黑色置物架。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹继续接近黑色置物架，垂直下降到合适的位置。松开爪夹，使衣架落在黑色置物架上。", + "progress_explanation": "爪夹角度接近垂直于桌面，垂直下降并接近黑色置物架，缩短了于黑色置物架的距离，因此进度提升为70%", + "error_success_analysis": "爪夹垂直下降并接近黑色置物架，方便衣架落在黑色置物架上。", + "correction_plan": "爪夹继续接近黑色置物架，垂直下降到合适的位置。松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 30.854087823245525, + "frame": 926, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧衣架，爪夹角度接近垂直于桌面，位于黑色置物架正上方。\n为完成抓取衣架放在黑色置物架的任务应当：松开爪夹，使衣架落在黑色置物架上。", + "progress_explanation": "爪夹角度接近垂直于桌面，位于黑色置物架正上方。因此进度提升为80%", + "error_success_analysis": "爪夹位于黑色置物架正上方，方便衣架落在黑色置物架上。", + "correction_plan": "松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 38.533333, + "frame": 1156, + "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，抓取衣架放在黑色置物台的任务完成。", + "progress_explanation": "爪夹张开，衣架落在黑色置物架上，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，衣架落在黑色置物架上。", + "correction_plan": "爪夹抓取衣架放在黑色置物台的任务完成。", + "annotations": { + "bbox_1767666575632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767666575632_1767666760032_v3ikhh14b", + "x": 0.28211106676568193, + "y": 0.29340740288628475, + "width": 0.42199997424316554, + "height": 0.592 + } + ] + }, + "bbox_1767666575863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767666575863_1767666767711_2vyz6ytxy", + "x": 0.4771110548638272, + "y": 0.18614813910590275, + "width": 0.5149999685668963, + "height": 0.7662222222222224 + } + ] + }, + "point_1767666576783": { + "type": "point", + "instances": [ + { + "id": "point_1767666576783_1767666788001_tntfvpod2", + "x": 0.43611105736626843, + "y": 0.6234814724392361 + } + ] + }, + "point_1767666576999": { + "type": "point", + "instances": [ + { + "id": "point_1767666576999_1767666790331_l7u6zk09t", + "x": 0.7781110364922463, + "y": 0.6377036946614584 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767666575632", + "name": "衣架", + "color": "#4CAF50" + }, + { + "id": "bbox_1767666575863", + "name": "黑色置物架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767666576783", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767666576999", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json new file mode 100644 index 0000000000000000000000000000000000000000..e0972d63ef9d4ddf04872d25b63a595efb0b0958 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json @@ -0,0 +1,130 @@ +{ + "task_description": "抓取纸杯放在桌面上：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓紧纸杯接近桌面：60%\n爪夹将纸杯放在桌面：80%\n爪夹松开纸杯落入桌面：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纸杯移动，同时调整爪夹的角度使其垂直与桌面，并移动到纸杯的正上方。接着落下爪夹靠近纸杯，接近纸杯后爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，远离纸杯，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放在桌面上的任务应当：爪夹向爪夹右前方的纸杯移动，同时调整爪夹的角度使其垂直与桌面，并移动到纸杯的正上方。", + "time": 0.7921683731092812 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了纸杯，方便抓取。", + "frame": 105, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了纸杯。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，靠近了纸杯。准备抓取纸杯。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 3.487399 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 4.996133 + }, + { + "action_description": "爪夹张开，纸杯落在桌面上。", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。", + "frame": 216, + "progress": 30, + "progress_explanation": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。因此进度降低为30%", + "state_description": "爪夹张开，纸杯未分离，纸杯落在桌面上。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 7.208751777152993 + }, + { + "action_description": "爪夹重新合拢，抓取纸杯", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 278, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 9.274999 + }, + { + "action_description": "爪夹再次张开，纸杯重新落在桌面上。", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。", + "frame": 399, + "progress": 30, + "progress_explanation": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。因此进度降低为30%", + "state_description": "爪夹张开，纸杯未分离，纸杯落在桌面上。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 13.308466864947631 + }, + { + "action_description": "爪夹再次重新合拢，抓取纸杯", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 472, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 15.730399 + }, + { + "action_description": "爪夹夹紧纸杯，向爪夹右前方移动。", + "correction_plan": "爪夹水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹移动到了桌面正上方，方便将纸杯分离并放在桌面上。", + "frame": 533, + "progress": 60, + "progress_explanation": "爪夹夹紧纸杯，到了爪夹右前方的桌面正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取纸杯放在桌面上的任务应当：爪夹水平到达桌面的正上方后，爪夹下降至合适的位置", + "time": 17.783266 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。方便将纸杯放在桌面上。", + "frame": 612, + "progress": 80, + "progress_explanation": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。因此进度提升为 80%。", + "state_description": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。\n为完成抓取纸杯放在桌面上的任务应当：松开爪夹，使纸杯落在桌面上。", + "time": 20.404999 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取纸杯放在桌面上的任务目标完成。", + "error_success_analysis": "爪夹张开，纸杯落在桌面上。", + "frame": 742, + "progress": 100, + "progress_explanation": "爪夹张开，纸杯落在桌面上，任务完成。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。\n爪夹抓取纸杯放在桌面上的任务目标完成。", + "time": 24.733333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767173782610", + "name": "纸杯" + }, + { + "color": "#FF9800", + "id": "bbox_1767173782893", + "name": "桌面" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767173791628", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767173791804", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json new file mode 100644 index 0000000000000000000000000000000000000000..681632ce9df5dd471f1f7cce0207356f377f7514 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取抹布放在桌面上：\n准备开始移动：0%\n爪夹靠近抹布：20%\n爪夹抓取抹布：40%\n爪夹抓紧抹布接近桌面：60%\n爪夹将抹布放在桌面：80%\n爪夹松开抹布放在桌面：100%", + "progress_points": [ + { + "time": 0.408, + "frame": 12, + "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，远离抹布，未开始移动。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "当前为初始状态，远离抹布，未开始移动。进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 3.397578003416708, + "frame": 102, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开爪夹接近垂直于桌面，还未接近抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近蓝色方块。", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 6.337791462684898, + "frame": 190, + "progress": 15, + "action_description": "爪夹向爪夹前方移动", + "state_description": "爪夹张开，水平上接近了抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了抹布之间的距离。方便后续抓取抹布。", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 8.624624153226822, + "frame": 259, + "progress": 20, + "action_description": "爪夹向爪夹正前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，靠近了抹布，准备抓取抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹合拢抓取抹布，抓紧抹布垂直升高并向爪夹前方的桌面接近", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了抹布。方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了抹布，方便抓取。", + "correction_plan": "爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 12.586799, + "frame": 378, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到抹布，爪夹角度与桌面接近垂直。\n为完成抓取抹布放在桌面的任务应当：抓紧抹布垂直升高并向爪夹前方的桌面接近", + "progress_explanation": "爪夹合拢抓取到抹布，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抹布。", + "correction_plan": "抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 15.5856, + "frame": 468, + "progress": 50, + "action_description": "爪夹夹紧抹布，垂直升高爪夹。", + "state_description": "爪夹合拢夹紧抹布 ，水平上接近了抹布。\n为完成抓取抹布放在桌面的任务应当：继续向爪夹正前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹合拢夹紧抹布，垂直升高并向爪夹前边的桌面接近，缩短了与桌面的距离，因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧抹布，水平上接近了抹布。更加方便接近桌面。", + "correction_plan": "继续向爪夹正前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 17.575940684776644, + "frame": 527, + "progress": 60, + "action_description": "爪夹夹紧抹布，向爪夹正前方移动", + "state_description": "爪夹夹紧抹布，爪夹角度接近垂直于桌面，位于 桌面正上方。\n为完成抓取抹布放在桌面的任务应当：垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹夹紧抹布，到了爪夹正前方的桌面的正上方，方便将抹布放在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了桌面正上方，水平上接近了桌面。更加方便接近桌面。", + "correction_plan": "垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 18.6048, + "frame": 558, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧抹布，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取抹布放在桌面的任务应当：松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹垂直下降到合适的位置，方便抹布落在桌面上。", + "correction_plan": "松开爪夹，使抹布落在桌面上。" + }, + { + "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爪夹松开抹布落在桌面的任务完成。", + "progress_explanation": "爪夹张开，抹布落在桌面上，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，抹布落在桌面上。", + "correction_plan": "爪夹松开抹布落在桌面的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767668640131", + "name": "抹布", + "color": "#4CAF50" + }, + { + "id": "bbox_1767668640313", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767668641225", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767668641423", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d415c48b4f4bd58b9702fe8bacdd1bc97a6d96 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取黑色杯子放在桌面右边：\n准备开始移动：0%\n爪夹靠近黑色杯子：20%\n爪夹抓取黑色杯子：40%\n爪夹抓取黑色杯子靠近桌面右边：60%\n爪夹将黑色杯子放在桌面右边：80%\n爪夹松开黑色杯子落在桌面右边：100%", + "progress_points": [ + { + "time": 0.736333, + "frame": 22, + "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，远离黑色杯子，未开始移动。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "当前为初始状态，远离黑色杯子，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 1.8565820977596492, + "frame": 56, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开，还未接近蓝色方块。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为5%", + "error_success_analysis": "爪夹向爪夹正前方移动，水平上未接近黑色杯子。", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 3.4120981113037194, + "frame": 102, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动。", + "state_description": "爪夹张开，水平上接近了黑色杯子。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与黑色杯子之间的距离。方便后续抓取黑色杯子。", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 5.107333, + "frame": 153, + "progress": 20, + "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", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑色杯子。准备抓取黑色杯子。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色杯子。方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑色杯子，方便抓取。", + "correction_plan": "爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 8.366, + "frame": 251, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到黑色杯子，爪夹角度与桌面接近垂直。\n为完成抓取黑色杯子放在桌面右边的任务应当：抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近。", + "progress_explanation": "爪夹合拢抓取到黑色杯子。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黑色杯子。", + "correction_plan": "抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 10.183333, + "frame": 305, + "progress": 60, + "action_description": "爪夹夹紧黑色杯子，向爪夹右前方移动。", + "state_description": "爪夹夹紧黑色杯子，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。", + "progress_explanation": "爪夹夹紧黑色杯子，到了爪夹右前方的桌面正上方，方便黑色杯子落在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到桌面正上方，方便黑色杯子落在桌面上。", + "correction_plan": "爪夹水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 12.141666, + "frame": 364, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧黑色杯子，爪夹角度接近垂直云桌面，黑色杯子落在桌面上。\n为完成抓取黑色杯子放在桌面右边的任务应当：松开爪夹，使黑色杯子落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，黑色杯子落在桌面上。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直向下移动到合适位置，方便黑色杯子落在桌面上。", + "correction_plan": "松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 14.1987007651261, + "frame": 426, + "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爪夹抓取黑色杯子放在桌面右边的任务完成。", + "progress_explanation": "爪夹张开，黑色杯子落在桌面上，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，黑色杯子落在桌面上。", + "correction_plan": "爪夹抓取黑色杯子放在桌面右边的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767504258194", + "name": "黑色杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767504258423", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767504268294", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767504268477", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json new file mode 100644 index 0000000000000000000000000000000000000000..a312e3c7b2a86ce006ca1d90fe07515f012ef333 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取白色物品放入黄色布袋里：\n准备开始移动：0%\n爪夹靠近白色物品：20%\n爪夹抓取白色物品：40%\n爪夹抓紧白色物品接近黄色布袋：60%\n爪夹将白色物品放入黄色布袋：80%\n爪夹松开白色物品落入黄色布袋：100%", + "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物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前为初始状态，远离白色物品，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离白色物品，未开始移动。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 0.7234153743850247 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近白色物品。", + "frame": 55, + "progress": 5, + "progress_explanation": "爪夹向正前方移动，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，还未接近白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 1.8414225038377863 + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，缩短了白色物品质检的距离，方便后续抓取白色物品。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹角度与桌面垂直，方便抓取。因此进度提升为15%", + "state_description": "爪夹张开，爪夹的角度接近垂直于桌面，水平上接近了白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 3.2224901343382566 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色物品，方便抓取。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色物品。方便抓取，因此进度为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了白色物品，准备抓取白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近。", + "time": 4.669322890100655 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "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物品。", + "frame": 191, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到白色物品。因此进度提升为40%", + "state_description": "爪夹合拢抓取到白色物品，爪夹角度与桌面接近垂直。\n为完成抓取白色物品放入黄色布袋的任务应当：抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近。", + "time": 6.3756 + }, + { + "action_description": "爪夹夹紧白色物品，向爪夹前方的黄色布袋移动。", + "correction_plan": "爪夹水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹移动到了黄色布袋正上方，方便白色物品落入黄色布袋里。", + "frame": 213, + "progress": 60, + "progress_explanation": "爪夹夹紧白色物品，到了爪夹正前方的黄色布袋正上方，方便白色物品落入黄色布袋。因此进度提升为60%", + "state_description": "爪夹夹紧白色物品，爪夹角度接近垂直于桌面，位于黄色布袋正上方。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "time": 7.102632524791958 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹垂直下降到合适的位置，方便白色物品落入黄色布袋里。", + "frame": 260, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适的位置，方便白色物品落入黄色布袋。因此进度提升为80%", + "state_description": "爪夹夹紧白色物品，爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置停止。\n为完成抓取白色物品放入黄色布袋的任务应当：松开爪夹，使白色物品落入黄色布袋。", + "time": 8.665066 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取白色物品放入黄色布袋的任务完成。", + "error_success_analysis": "爪夹张开，白色物品落入黄色布袋。", + "frame": 308, + "progress": 100, + "progress_explanation": "爪夹张开，白色物品落入黄色布袋，任务完成，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。\n爪夹松开白色物品落入黄色布袋的任务目标完成。", + "time": 10.266667 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767511859377", + "name": "白色物品", + "color": "#4CAF50" + }, + { + "id": "bbox_1767511859568", + "name": "黄色布袋", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767512162446", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767512162639", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001282.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001282.json new file mode 100644 index 0000000000000000000000000000000000000000..53bbe98a704078e2b0bbe8f161fe0f4de19f6061 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001282.json @@ -0,0 +1,255 @@ +{ + "task_description": "抓取木质小块放到桌面左边：\n准备开始移动：0%\n爪夹靠近木质小块：20%\n爪夹抓取木质小块：40%\n爪夹抓紧木质小块接近桌面左边：60%\n爪夹将木质小块放在桌面左边：80%\n爪夹松开木质小块落在桌面左边：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方木质小块移动，同时调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前为初始状态，远离木质小块，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离木质小块，未开始移动。\n为完成抓取木质小块放到桌面左边的任务应当：爪夹向爪夹右前方木质小块移动，同时调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 0.27608259156713316, + "annotations": { + "bbox_1768545916774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768545916774_1768546017811_gufsu008w", + "x": 0.4721110551690029, + "y": 0.6019506022135416, + "width": 0.03125, + "height": 0.05555555555555555 + } + ] + }, + "bbox_1768545982648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768545982648_1768546035939_zw98kozej", + "x": 0.4961110537041593, + "y": 0.7103950466579861, + "width": 0.021999998657226617, + "height": 0.040888888888888884 + } + ] + }, + "bbox_1768545958148": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768545958148_1768546049690_hq9255mg2", + "x": 0.4801110546807217, + "y": 0.655283935546875, + "width": 0.030999998107910275, + "height": 0.044444444444444446 + } + ] + }, + "bbox_1768545974869": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768545974869_1768546057002_imd6p3z33", + "x": 0.491111054009335, + "y": 0.7175061577690973, + "width": 0.03799999768066424, + "height": 0.05511111111111104 + } + ] + }, + "point_1768545941909": { + "type": "point", + "instances": [ + { + "id": "point_1768545941909_1768546059409_0hfd2fs83", + "x": 0.5181110523613859, + "y": 0.4419506022135417 + } + ] + } + } + }, + { + "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", + "correction_plan": "爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹垂直向下移动，靠近了木质小块，方便抓取。", + "frame": 80, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了木质小块，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，靠近了木质小块，准备抓取木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近。", + "time": 2.6688227253602763 + }, + { + "action_description": "爪夹合拢，向下按压木质小块。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹向下按压木质小块。", + "frame": 130, + "progress": 40, + "progress_explanation": "爪夹合拢向下按压木质小块。因此进度提升为40%", + "state_description": "爪夹合拢后向下按压木质小块，爪夹角度接近垂直于桌面。\n爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "time": 4.325335125678606 + }, + { + "action_description": "爪夹按压木质小块，向爪夹左方移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹合拢按压木质小块，向桌面左边移动。", + "frame": 196, + "progress": 50, + "progress_explanation": "爪夹合拢按压木质小块，向桌面左边移动。因此进度为50%", + "state_description": "爪夹合拢按压木质小块，水平上接近了桌面左边。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 6.5340183261030464 + }, + { + "action_description": "爪夹垂直升高，爪夹张开。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹垂直升高并张开，未抓取到木质小块。", + "frame": 243, + "progress": 0, + "progress_explanation": "爪夹张开，未抓取木质小块。因此进度为0%", + "state_description": "当前爪夹垂直升高，爪夹张开，准备抓取木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 8.098502259737025 + }, + { + "action_description": "爪夹调整角度并垂直向下移动。", + "correction_plan": "爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹垂直向下移动，靠近了木质小块，方便抓取。", + "frame": 285, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于卓桌面，靠近了木质小块，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，准备抓取木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 9.510733 + }, + { + "action_description": "爪夹合拢向下按压木质小块。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢按压木质小块", + "frame": 315, + "progress": 40, + "progress_explanation": "爪夹合拢按压木质小块，因此进度提升为40%", + "state_description": "爪夹合拢按压木质小块，爪夹角度接近垂直于桌面。\n为完成抓取木质小块放到桌面左边的任务应当：抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近。", + "time": 10.516399 + }, + { + "action_description": "爪夹按压木质小块并向爪夹前方移动", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹按压木质小块向前移动，远离了桌面左边。", + "frame": 341, + "progress": 30, + "progress_explanation": "爪夹按压木质小块向前移动，远离了桌面左边。因此进度降低为30%", + "state_description": "爪夹合拢按压木质小块并向前移动，远离了桌面左边。\n为完成抓取木质小块放到桌面左边的任务应当：抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近。", + "time": 11.378399 + }, + { + "action_description": "爪夹按压木质小块，向爪夹左方移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹合拢按压木质小块，向桌面左边移动。", + "frame": 388, + "progress": 50, + "progress_explanation": "爪夹合拢按压木质小块，向桌面左边移动。因此进度为50%", + "state_description": "爪夹合拢按压木质小块，水平上接近了桌面左边。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 12.948100560643992 + }, + { + "action_description": "爪夹垂直升高，远离木质小块。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹垂直升高，未抓取木质小块。", + "frame": 437, + "progress": 0, + "progress_explanation": "当前爪夹合拢，爪夹垂直升高，未抓取木质小块。因此进度为0%", + "state_description": "当前爪夹合拢，爪夹垂直升高，未抓取木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 14.577310061222283 + }, + { + "action_description": "爪夹向爪夹左方移动", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹接近另一个木质小块，远离了原来的木质小块。", + "frame": 464, + "progress": -5, + "progress_explanation": "爪夹接近另一个木质小块，远离了原来的木质小块。因此进度降低为-5%", + "state_description": "爪夹合拢，爪夹水平上接近了另一个木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：爪夹向爪夹右前方木质小块移动，同时调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 15.458533 + }, + { + "action_description": "爪夹向爪夹左方移动并向下垂直移动，调整爪夹角度", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹接近了另一个木质小块，远离了原来的木质小块。", + "frame": 530, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，远离了原来的木质小块。因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，远离了原来的木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。", + "time": 17.657997116861235 + }, + { + "action_description": "爪夹按压另一个木质小块", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹按压另一个木质小块，远离里原来的木质小块", + "frame": 591, + "progress": -20, + "progress_explanation": "爪夹按压另一个木质小块，远离里原来的木质小块，因此进度降低为-20%", + "state_description": "爪夹按压另一个木质小块，爪夹角度接近垂直于桌面。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到原来的木质小块的正上方。", + "time": 19.711066 + }, + { + "action_description": "爪夹按压另一个木质小块，向爪夹右方移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹按压另一个木质小块并向爪夹右方移动，远离了原来的木质小块。", + "frame": 691, + "progress": -30, + "progress_explanation": "爪夹按压另一个木质小块并向爪夹右方移动，远离了原来的木质小块。因此进度降低为-30%", + "state_description": "爪夹按压另一个木质小块，爪夹角度接近垂直于桌面。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到原来的木质小块的正上方。", + "time": 23.044133 + }, + { + "action_description": "爪夹按压另一个木质小块到爪夹右方", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹按压另一个木质小块，远离原来的木质小块。", + "frame": 790, + "progress": -40, + "progress_explanation": "爪夹按压另一个木质小块，远离原来的木质小块。因此进度降低为-40", + "state_description": "爪夹按压另一个木质小块，爪夹垂直升高。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到原来的木质小块的正上方。", + "time": 26.32013866323865 + }, + { + "action_description": "爪夹张开，未抓取到木质小块。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到木质小块的正上方。接着落下爪夹靠近木质小块，接近木质小块后爪夹合拢抓取木质小块。抓紧木质小块垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面左边的正上方后，垂直下降至合适位置，松开爪夹，使木质小块落在桌面左边。", + "error_success_analysis": "爪夹张开，远离原来的木质小块，未抓取到另一个木质小块。", + "frame": 862, + "progress": 0, + "progress_explanation": "爪夹张开，远离原来的木质小块，未抓取到另一个木质小块。因此进度为0%", + "state_description": "当前爪夹张开，远离原来的木质小块，未抓取到另一个木质小块。\n为完成抓取木质小块放到桌面左边的任务应当：调整爪夹的角度使其垂直于桌面，并移动到原来的木质小块的正上方。", + "time": 28.733333 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768545916774", + "name": "木质小块", + "color": "#4CAF50" + }, + { + "id": "bbox_1768545958148", + "name": "桌面左方", + "color": "#FF9800" + }, + { + "id": "bbox_1768545974869", + "name": "桌面右方", + "color": "#2196F3" + }, + { + "id": "bbox_1768545982648", + "name": "另一个木质小块", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1768545941909", + "name": "爪夹左", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf12d509e124cb2212364079f467000ebec6abb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json @@ -0,0 +1,136 @@ +{ + "task_description": "抓取玩具放在桌面上：\n准备开始移动：0%\n爪夹靠近玩具：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近桌面：60%\n爪夹将玩具放在桌面：80%\n爪夹松开玩具落在桌面：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玩具移动，同时调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。接着落下爪夹靠近玩具，接近玩具后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离玩具，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离玩具，未开始移动。\n为完成抓取玩具放在桌面上的任务应当：爪夹向爪夹右前方的玩具移动，同时调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。", + "time": 1.4092520572709257, + "annotations": { + "point_1767516968463": { + "type": "point", + "instances": [ + { + "id": "point_1767516968463_1767516987635_buxisobl0", + "x": 0.6228132083194613, + "y": 0.1954511367002211 + } + ] + }, + "point_1767516968653": { + "type": "point", + "instances": [ + { + "id": "point_1767516968653_1767516990583_ax6327bnj", + "x": 0.7368494458995964, + "y": 0.20584824843030364 + } + ] + }, + "bbox_1767516958727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516958727_1767516994058_9rxhp5mr5", + "x": 0.5584850742998978, + "y": 0.5853428265783148, + "width": 0.05555611574416845, + "height": 0.12996389662603122 + } + ] + }, + "bbox_1767516958902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516958902_1767516998243_c6nduz32j", + "x": 0.41228476970998107, + "y": 0.6789168321490574, + "width": 0.14912431068171506, + "height": 0.20794223460165007 + } + ] + } + } + }, + { + "time": 2.326666, + "frame": 70, + "progress": 20, + "action_description": "爪夹向爪夹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，靠近了玩具。准备抓取玩具。\n为完成抓取玩具放在桌面上的任务应当：爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了玩具。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了玩具，方便抓取。", + "correction_plan": "爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 3.633333, + "frame": 109, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹角度接近垂直于桌面，靠近了玩具。准备抓取玩具。\n为完成抓取玩具放在桌面上的任务应当：爪夹抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹合拢抓取到玩具。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玩具。\n", + "correction_plan": "抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 4.793333, + "frame": 144, + "progress": 60, + "action_description": "爪夹夹紧玩具，向爪夹左前方移动。", + "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取玩具放在桌面上的任务应当：爪夹水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。", + "progress_explanation": "爪夹夹紧玩具，到了爪夹左前方桌面的正上方，方便玩具落在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹夹紧玩具，到了爪夹左前方桌面的正上方，方便玩具落在桌面上。", + "correction_plan": "爪夹水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 5.646666, + "frame": 169, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧玩具，爪夹的角度接近垂直于桌面，位于桌面正上方。\n为完成抓取玩具放在桌面上的任务应当：松开爪夹，使玩具落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适的位置。方便玩具落在桌面上。因此进度提升为80%", + "error_success_analysis": "爪夹下降至合适的位置。方便玩具落在桌面上", + "correction_plan": "松开爪夹，使玩具落在桌面上。" + }, + { + "time": 6.666667, + "frame": 200, + "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爪夹抓取玩具放在桌面上的任务完成。", + "progress_explanation": "爪夹张开，玩具落在桌面上。任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，玩具落在桌面上。", + "correction_plan": "爪夹抓取玩具放在桌面上的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767516958727", + "name": "玩具", + "color": "#4CAF50" + }, + { + "id": "bbox_1767516958902", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767516968463", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767516968653", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001923.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001923.json new file mode 100644 index 0000000000000000000000000000000000000000..b4fb8dd3a71e2a1e0d425063bcefc3825307572c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001923.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取杯子放在桌面前方：\n准备抓取杯子：0%\n爪夹靠近杯子；20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近桌面前方：60%\n爪夹将杯子放在桌面前方：80%\n爪夹松开杯子落在桌面前方：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面。并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，使杯子落在桌面前方。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "当前为初始状态，远离杯子，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子放在桌面前方的任务应当：爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面。并移动到杯子的正上方。", + "time": 0.45736587345509655 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面。并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取", + "frame": 40, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取，因此进度同时为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近杯子。\n为完成抓取杯子放在桌面前方的任务应当：爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面。并移动到杯子的正上方。", + "time": 1.3464 + }, + { + "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。", + "correction_plan": "爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "抓夹垂直向下移动，靠近了杯子。方便抓取。", + "frame": 70, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杯子，方便抓取，因此进提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了杯子，准备抓取杯子。 \n为完成抓取杯子放在桌面前方的任务应当：爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近", + "time": 2.330390743803721 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杯子", + "frame": 95, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为40%", + "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子放在桌面前方的任务应当：抓紧杯子垂直升高爪夹并向爪夹前方的桌面接近。", + "time": 3.1688 + }, + { + "action_description": "爪夹夹紧杯子，垂直升高，向爪夹前方移动。", + "correction_plan": "继续向爪夹前方的桌面移动，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上更接近了桌面前方。", + "frame": 114, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杯子垂直升高并向爪夹前方的桌面接近，缩短了与桌面的距离，因此进度提升为50%", + "state_description": "爪夹合拢夹紧杯子，水平上接近了桌面前方。\n为完成抓取杯子放在桌面前方的任务应当：继续向爪夹前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "time": 3.808 + }, + { + "action_description": "爪夹夹紧杯子，向爪夹前方移动。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "爪夹移动到了桌面的正上方，方便杯子落在桌面上。", + "frame": 132, + "progress": 60, + "progress_explanation": "爪夹夹紧杯子，到了桌面正上方，方便杯子落在桌面上，因此进度提升为60%", + "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，位于桌面正上方。\n", + "time": 4.399429844770224 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "松开爪夹，使杯子落在桌面前方。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便杯子落在桌面上。", + "frame": 161, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为 80%。", + "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n", + "time": 5.378799 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取杯子放在桌面前方的任务完成。", + "error_success_analysis": "爪夹张开，杯子落在桌面上，任务完成。", + "frame": 204, + "progress": 100, + "progress_explanation": "爪夹张开，杯子落在桌面上，任务完成。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。\n爪夹抓取杯子放在桌面前方的任务完成。", + "time": 6.8 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768207516428", + "name": "杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1768207516643", + "name": "桌面前方" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768207579020", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768207579230", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.wrist_image_left/episode_001290.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.wrist_image_left/episode_001290.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce35133a131f53d01f67e9abb516a488220c080 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.wrist_image_left/episode_001290.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取杯子放在桌面右边：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近桌面右边：60%\n爪夹将杯子放在桌面右边：80%\n爪夹松开杯子落在桌面右边：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离杯子，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子放在桌面右边的任务应当：爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 1.4007248414258289 + }, + { + "action_description": " 爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近杯子。", + "frame": 79, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度同时为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近杯子。\n为完成抓取杯子放在桌面右边的任务应当：爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 2.642346857054679 + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "爪夹继续向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与杯子之间的距离。方便后续抓取杯子。", + "frame": 122, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杯子，更加方便抓取。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，水平上接近了杯子。\n为完成抓取杯子放在桌面右边的任务应当：爪夹向爪夹左前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 4.051666 + }, + { + "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", + "correction_plan": "爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杯子，方便抓取。", + "frame": 205, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杯子。方便抓取，因此进度为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了杯子，准备抓取杯子。\n为完成抓取杯子放在桌面右边的任务应当：爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近", + "time": 6.819999 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杯子。", + "frame": 261, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为40%", + "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子放在桌面右边的任务应当：抓紧杯子垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 8.689999 + }, + { + "action_description": "爪夹夹紧杯子，垂直升高，向爪夹右前方移动", + "correction_plan": "继续向爪夹右前方的桌面接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了桌面右边，更加方便接近桌面右边。", + "frame": 328, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹右边的桌面接近。缩短了与桌面右边的距离，因此进度提升为50%", + "state_description": "爪夹合拢夹紧杯子，水平上接近了桌面右边。\n为完成抓取杯子放在桌面右边的任务应当：继续向爪夹右前方的桌面右边接近，水平到达桌面的正上方后，垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "time": 10.92170595729241 + }, + { + "action_description": "爪夹夹紧杯子，向爪夹右前方移动。", + "correction_plan": "垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹移动到了桌面右边，方便杯子落在桌面上。", + "frame": 400, + "progress": 60, + "progress_explanation": "爪夹夹紧杯子，到了爪夹右前方的桌面右边的正上方，垂直向下移动到合适位置，方便杯子落在桌面上。因此进度提升为60%", + "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面。\n为完成抓取杯子放在桌面右边的任务应当：垂直下降至合适的位置，松开爪夹，使杯子落在桌面上。", + "time": 13.326840712650215 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "爪夹垂直向下移动，方便杯子落在桌面上。", + "frame": 446, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直向下移动。因此进度提升为80%", + "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面，爪夹垂直向下移动至合适位置。\n为完成抓取杯子放在桌面右边的任务应当：松开爪夹，使杯子落在桌面上。", + "time": 14.857768423536388 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取杯子放在桌面右边的任务完成。爪夹回到待机位置。", + "error_success_analysis": "爪夹张开，杯子落在桌面上。", + "frame": 550, + "progress": 100, + "progress_explanation": "爪夹张开，杯子落在桌面上，任务完成。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。\n爪夹抓取杯子放在桌面右边的任务完成。", + "time": 18.333333 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768195620009", + "name": "杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768195620230", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768195629643", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768195629850", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002400.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002400.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ff5bef25a4518f179261f77d7047f08134e521 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002400.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取装有棕色液体的瓶子放入铁箱里：\n开始准备移动：0%\n爪夹靠近装有棕色液体的瓶子：20%\n爪夹抓取装有棕色液体的瓶子：40%\n爪夹抓紧装有棕色液体的瓶子接近置物架：60%\n爪夹将装有棕色液体的瓶子放在置物架上：80%\n爪夹松开装有棕色液体的瓶子落在置物架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方装有棕色液体的瓶子移动，同时调整爪夹的角度使其垂直于桌面，并移动到装有棕色液体的瓶子的正上方。接着落下爪夹靠近装有棕色液体的瓶子，接近装有棕色液体的瓶子后爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离装有棕色液体的瓶子，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离装有棕色液体的瓶子，未开始移动。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：爪夹向爪夹右前方装有棕色液体的瓶子移动，同时调整爪夹的角度使其垂直于桌面，并移动到装有棕色液体的瓶子的正上方。", + "time": 0.6696 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了装有棕色液体的瓶子，方便抓取。", + "frame": 49, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了装有棕色液体的瓶子，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，靠近了装有棕色液体的瓶子，准备抓取装有棕色液体的瓶子。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近。", + "time": 1.62 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到装有棕色液体的瓶子。", + "frame": 95, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到装有棕色液体的瓶子。因此进度提升为40%", + "state_description": "爪夹合拢抓取到装有棕色液体的瓶子，爪夹角度与桌面接近垂直。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近。", + "time": 3.1823465740739474 + }, + { + "action_description": "爪夹夹紧装有棕色液体的瓶子，准备向桌面上方的置物架移动。", + "correction_plan": "抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹合拢夹紧装有棕色液体的瓶子，准备向桌面上方的置物架接近。未垂直升高。", + "frame": 120, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧装有棕色液体的瓶子，准备向桌面上方的置物架接近。因此进度提升为50%", + "state_description": "爪夹合拢夹紧装有棕色液体的瓶子，未垂直升高。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "time": 4.012524491984966 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到装有棕色液体的瓶子的正上方。接着落下爪夹靠近装有棕色液体的瓶子，接近装有棕色液体的瓶子后爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹张开，远离装有棕色液体的瓶子，需要重新抓取。", + "frame": 187, + "progress": 0, + "progress_explanation": "爪夹张开，需要重新抓取装有棕色液体的瓶子。因此进度为0%", + "state_description": "爪夹张开，重新抓取装有棕色液体的瓶子。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到装有棕色液体的瓶子的正上方。", + "time": 6.2208 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了装有棕色液体的瓶子，方便抓取。", + "frame": 210, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了装有棕色液体的瓶子，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，靠近了装有棕色液体的瓶子，准备抓取装有棕色液体的瓶子。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：爪夹合拢抓取装有棕色液体的瓶子。抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近。", + "time": 6.987328697832781 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近，水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到装有棕色液体的瓶子。", + "frame": 280, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到装有棕色液体的瓶子。因此进度提升为40%", + "state_description": "爪夹合拢抓取到装有棕色液体的瓶子，爪夹角度与桌面接近垂直。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：抓紧装有棕色液体的瓶子垂直升高爪夹并向桌面上方的置物架接近。", + "time": 9.3312 + }, + { + "action_description": "爪夹夹紧装有棕色液体的瓶子，垂直升高，向爪夹上方的置物架移动。", + "correction_plan": "水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹合拢继续夹紧装有棕色液体的瓶子，水平上更接近了置物架。", + "frame": 325, + "progress": 50, + "progress_explanation": "爪夹合拢继续夹紧装有棕色液体的瓶子，垂直升高并向爪夹上方的置物架接近，缩短了装有棕色液体的瓶子与置物架的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧装有棕色液体的瓶子，水平上接近了置物架。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：水平到达置物架正上方后，爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。\n", + "time": 10.8432 + }, + { + "action_description": "爪夹夹紧装有棕色液体的瓶子，向桌面上方移动", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹移动到了置物架正上方，方便装有棕色液体的瓶子放在置物架上。", + "frame": 405, + "progress": 60, + "progress_explanation": "爪夹夹紧装有棕色液体的瓶子，到了爪夹上方的置物架正上方，更方便棕色液体的瓶子落在置物架上。因此进度提升为60%", + "state_description": "爪夹夹紧装有棕色液体的瓶子，爪夹角度接近垂直于桌面，位于置物架正上方。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：爪夹垂直下降至合适位置，松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "time": 13.5 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便装有棕色液体的瓶子放在置物架。", + "frame": 492, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。，因此进度提升为80%", + "state_description": "爪夹夹紧装有棕色液体的瓶子，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取装有棕色液体的瓶子放在置物架上的任务应当：松开爪夹，使装有棕色液体的瓶子落在置物架上。", + "time": 16.391750941844766 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取装有棕色液体的瓶子放在置物架上的任务完成。爪夹回到待机位置", + "error_success_analysis": "爪夹张开，装有棕色液体的瓶子落在置物架上，任务完成。", + "frame": 648, + "progress": 100, + "progress_explanation": "爪夹张开，装有棕色液体的瓶子落在置物架上，任务完成。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。\n爪夹抓取装有棕色液体的瓶子放在置物架上的任务完成。", + "time": 21.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768297875353", + "name": "装有棕色液体的瓶子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768297875556", + "name": "置物架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768297896669", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768297897180", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json new file mode 100644 index 0000000000000000000000000000000000000000..9559023e817748dce9807cfc7a9221a305da02c1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json @@ -0,0 +1,385 @@ +{ + "task_description": "将抽屉合上\n爪夹准备移动：0\n爪夹接近抽屉：25%\n爪夹紧挨着抽屉：50%\n爪夹紧挨着抽屉向前推动：75%\n爪夹向后移动远离抽屉：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向后方移动并下降，接近抽屉，爪夹继续下降，随后紧挨着抽屉，爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成将抽屉合上的任务，应当：爪夹向后方移动并下降，接近抽屉。", + "time": 1.2666666666666666, + "annotations": { + "point_1768296101344": { + "type": "point", + "instances": [ + { + "id": "point_1768296101344_1768296224974_lfn899tu0", + "x": 0.5499297552150126, + "y": 0.34048127466334893 + } + ] + }, + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296227911_t7hja3cip", + "x": 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"color": "#2196F3" + }, + { + "id": "point_1768296106496", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002741.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002741.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2f8d19390cd8ea21e9a55a67ef7a83df8e94a8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002741.json @@ -0,0 +1,362 @@ +{ + "task_description": "移动老鼠毛绒玩具到桌子右上方\n爪夹准备移动：0\n爪夹接近老鼠毛绒玩具：25%\n爪夹抓取老鼠毛绒玩具：50%\n爪夹夹住老鼠毛绒玩具接近桌子右上方：75%\n爪夹松开，老鼠毛绒玩具放在桌子右上方：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向正前方移动并下降，接近老鼠毛绒玩具，爪夹合拢抓取老鼠毛绒玩具，爪夹夹住老鼠毛绒玩具向上抬升，随后向右前方移动，接近桌子右上方，随后下降，爪夹松开，老鼠毛绒玩具放在桌子右上方。", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成移动老鼠毛绒玩具到桌子右上方的任务，应当：爪夹向正前方移动并下降，接近老鼠毛绒玩具。", + "time": 2.354306212291944, + "annotations": { + "bbox_1768293078751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768293078751_1768293287259_wk4vpz1ps", + "x": 0.2789268837103485, + "y": 0.31794165531348334, + "width": 0.4247296465687135, + "height": 0.47896691118464474 + } + ] + }, + "bbox_1768293067447": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768293067447_1768293292466_km0zj4x7h", + "x": 0.4469169678009591, + "y": 0.46163172866887675, + "width": 0.060222860334369785, + "height": 0.08170612014326287 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动并下降", + "correction_plan": "爪夹下降至玩具两侧，爪夹合拢抓取老鼠毛绒玩具，爪夹夹住老鼠毛绒玩具向上抬升，随后向右前方移动，接近桌子右上方，随后下降，爪夹松开，老鼠毛绒玩具放在桌子右上方。", + "error_success_analysis": "爪夹向正前方移动并下降，接近了玩具，方便抓取玩具。", + "frame": 93, + "progress": 25, + "progress_explanation": "爪夹向正前方移动并下降，接近了玩具，因此任务进度提升为25%。", + "state_description": "爪夹当前为张开的状态，接近玩具正上方，为完成移动老鼠毛绒玩具到桌子右上方的任务，应当：爪夹下降至玩具两侧，随后爪夹合拢抓取玩具。", + "time": 3.1133449537632485, + "annotations": { + "point_1768293088894": { + "type": "point", + "instances": [ + { + "id": "point_1768293088894_1768293253891_r1ghlxz3g", + "x": 0.46276508894158275, + "y": 0.48980625285620877 + } + ] + }, + "point_1768293082855": { + "type": "point", + "instances": [ + { + "id": "point_1768293082855_1768293258979_75wqkr1ih", + "x": 0.43740809511658485, + "y": 0.4419095617377443 + } + ] + }, + "bbox_1768293067447": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768293067447_1768293264187_0189sc1ec", + "x": 0.44057771934470963, + "y": 0.4729015383438095, + "width": 0.069731733018744, + "height": 0.07043631046833011 + } + ] + }, + "bbox_1768293078751": { + "type": "bbox", + "instances": [ + { + "id": 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"bbox_1768293078751", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768293082855", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768293088894", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002616.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002616.json new file mode 100644 index 0000000000000000000000000000000000000000..e995e4334f03e6890e7b06f6a55c81ab75ffc4de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002616.json @@ -0,0 +1,418 @@ +{ + "task_description": "从水槽中取出蓝色小包，放在台面的左侧\n爪夹准备移动：0\n爪夹接近蓝色小包：25%\n爪夹抓取蓝色小包：50%\n爪夹夹住蓝色小包接近台面：75%\n爪夹松开，蓝色小包放在台面的左侧：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向正前方移动，随后下降，接近蓝色小包；爪夹下降合拢抓取蓝色小包，爪夹夹住蓝色小包向上抬升，随后向左后方移动远离水槽，爪夹向左后方移动接近台面，爪夹松开，蓝色小包放在台面的左侧。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成从水槽中取出蓝色小包，放在台面的左侧的任务，应当：爪夹向正前方移动，随后下降，接近蓝色小包。", + "time": 0.45959245199848103, + "annotations": { + "point_1768291428561": { + "type": "point", + "instances": [ + { + "id": "point_1768291428561_1768291551397_rngaypf8n", + "x": 0.7321831483321846, + "y": 0.5264331342997404 + } + ] + }, + "point_1768291417784": { + "type": "point", + "instances": [ + { + "id": "point_1768291417784_1768291554045_ey5b1wnfv", + "x": 0.6925628454806254, + "y": 0.5658774681620053 + } + ] + }, + "bbox_1768291408761": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json new file mode 100644 index 0000000000000000000000000000000000000000..e3414836dfea3c96121e87b1afdddbc3a22181ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json @@ -0,0 +1,468 @@ +{ + "task_description": "将盘子里的东西倒到另一个盘子里\n爪夹准备移动：0\n爪夹接近盘子：20%\n爪夹抓取盘子：40%\n爪夹夹住盘子接近另一个盘子：60%\n爪夹夹住盘子将东西倒进另一个盘子：80%\n爪夹夹住盘子接近台面：90%\n爪夹松开，盘子落到台面上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.32400702815431853, + "id": "bbox_1768288824535_1768289054627_ooe2oul55", + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002432.json new file mode 100644 index 0000000000000000000000000000000000000000..30faab911104ea4bdb4861489d9223b5994218db --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002432.json @@ -0,0 +1,573 @@ +{ + "task_description": "将透明容器的盖子取下\n爪夹准备移动：0\n爪夹接近盖子：25%\n爪夹抓取盖子：50%\n爪夹夹住盖子向外侧移动：75%\n爪夹松开，透明容器的盖子取下：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向左侧移动，随后下降并继续向左侧移动，然后爪夹合拢抓住盖子，爪夹夹住盖子向上抬升并向右侧移动，爪夹松开，透明容器的盖子取下。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将透明容器的盖子取下的任务，应当：爪夹向左侧移动，随后下降，接近盖子。", + "time": 0.6277254503786577, + "annotations": { + "point_1768284525585": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002991.json new file mode 100644 index 0000000000000000000000000000000000000000..25bbd9276a0ec47b4af232cfb56e59678456a305 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002991.json @@ -0,0 +1,892 @@ +{ + "task_description": "将桌子上的白色物品放进左侧的黑色盒子\n爪夹准备移动：0\n爪夹接近白色物品：20%\n爪夹抓取白色物品：40%\n爪夹夹住白色物品接近黑色盒子：60%\n爪夹夹住白色物品放入黑色盒子：80%\n爪夹抬升，白色物品完全放进黑色盒子：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹下降，随后向右后方移动，然后下降，接近白色物品，爪夹合拢抓取白色物品，爪夹夹住白色物品向上抬升，随后向爪夹的左侧移动至黑色盒子正上方，接近黑色盒子，爪夹下降，将白色物品放入盒子，随后爪夹抬升，白色物品完全放进黑色盒子。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002995.json new file mode 100644 index 0000000000000000000000000000000000000000..74e5cc44175f1646172baea08a778b371dda62a9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002995.json @@ -0,0 +1,598 @@ +{ + "task_description": "将柜台上的蓝色小袋，放在左边的黑色篮子里\n爪夹准备移动：0\n爪夹接近蓝色袋子：20%\n爪夹抓取蓝色袋子：40%\n爪夹夹住蓝色袋子接近黑色篮子：60%\n爪夹夹住蓝色袋子在黑色篮子正上方：80%\n爪夹松开，蓝色袋子落入黑色篮子：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768270044986": { + "instances": [ + { + "height": 0.5719428410028404, + "id": "bbox_1768270044986_1768270284604_ykcvj30r4", + "width": 0.34231941663747056, + "x": 0.5958893065228212, + "y": 0.013656794090297252 + } + ], + "type": "bbox" + }, + "point_1768270033496": { + "instances": [ + { + 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"point_1768270039808", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json new file mode 100644 index 0000000000000000000000000000000000000000..9146a443fb5b5d98b751ce299ed80ba81767ddba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json @@ -0,0 +1,500 @@ +{ + "task_description": "把银锅里的东西拿出来，放到平底锅里\n准备开始移动：0%\n接近银锅里的物品：20%\n夹住银锅里的物品：50%\n将银锅里的物品夹起：70%\n将物品夹至平底锅上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至银锅上方，向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + 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"error_success_analysis": "爪夹向下移动正确，成功准备接近银锅里的物品", + "frame": 115, + "progress": 10, + "progress_explanation": "爪夹准备接近银锅里的物品，进度10%", + "state_description": "当前状态为爪夹准备接近银锅物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 3.8488880856927876, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462947547_8isdzgctr", + "x": 0.28133329581705957, + "y": 0.5559259168836805, + "width": 0.10399999365234414, + "height": 0.10133333333333339 + } + ] + }, + "point_1768462802269": { + "type": "point", + "instances": [ + { + "id": "point_1768462802269_1768462949931_6rmvi74gd", + "x": 0.40033328855387645, + "y": 0.5488148057725695 + } + ] + }, + "point_1768462802414": { + "type": "point", + "instances": [ + { + "id": "point_1768462802414_1768462953026_nkhpsr623", + "x": 0.43033328672282184, + "y": 0.5754814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下正确，成功更加接近银锅里的物品", + "frame": 174, + "progress": 20, + "progress_explanation": "爪夹接近银锅里的物品，进度20%", + "state_description": "当前状态为爪夹接近银锅里的物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 5.813011696125168, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462941763_xk033n1zl", + "x": 0.2863332955118838, + "y": 0.5594814724392361, + "width": 0.10399999365234414, + "height": 0.10488888888888886 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前，然后向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动，在银锅上方调整", + "frame": 251, + "progress": 22, + "progress_explanation": "爪夹在银锅上方，进度22%", + "state_description": "当前状态为爪夹在银锅上方\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 8.372324279415844, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ 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+ } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近银锅里的物品", + "frame": 403, + "progress": 30, + "progress_explanation": "爪夹更加接近银锅里的物品", + "state_description": "当前状态为爪夹更加接近银锅里的物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 13.431430548711369, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462922843_v9txy2g78", + "x": 0.2663332967325868, + "y": 0.5737036946614583, + "width": 0.10199999377441445, + "height": 0.0942222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功伸进银锅里", + "frame": 458, + "progress": 35, + "progress_explanation": "爪夹伸进银锅里，进度35%", + "state_description": "当前状态为爪夹伸进银锅里面\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 15.276516364572089, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462919203_x42yswz84", + "x": 0.29233329514567286, + "y": 0.5701481391059028, + "width": 0.08799999462890655, + "height": 0.1013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向右移动然后稍微向左移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪机移动正确，成功准备夹取银锅物品", + "frame": 519, + "progress": 40, + "progress_explanation": "爪夹准备夹取银锅物品，进度40%", + "state_description": "当前状态为爪夹准备夹取银锅物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 17.3001588722903, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462914413_ctlx738dh", + "x": 0.2733332963053408, + "y": 0.5600740695529515, + "width": 0.11699999285888714, + "height": 0.12266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动调整角度", + "frame": 579, + "progress": 45, + "progress_explanation": "爪夹在物品上方，进度45%", + "state_description": "当前状态为爪夹在物品上方\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 19.294041931365594, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462911436_78dxj7nrh", + "x": 0.27633329612223534, + "y": 0.5654074028862848, + "width": 0.11699999285888714, + "height": 0.1137777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功稍微触碰到物品", + "frame": 635, + "progress": 49, + "progress_explanation": "爪夹稍微触碰到物品，进度49%", + "state_description": "当前状态为爪夹稍微触碰到物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：合拢爪夹，夹住物品。", + "time": 21.168887195869228, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": 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"progress_explanation": "爪夹将物品移动至平底锅上方，进度90%", + "state_description": "当前状态为爪夹将物品移动至平底锅上方\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：松开爪夹。", + "time": 26.614866297522646, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462851413_orhqz202o", + "x": 0.19533330106608268, + "y": 0.5505925835503472, + "width": 0.18099998895263736, + "height": 0.1244444444444444 + } + ] + }, + "bbox_1768462801206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801206_1768462855181_bd8lv3trc", + "x": 0.3433332920328801, + "y": 0.5879259168836806, + "width": 0.03499999786376966, + "height": 0.06222222222222224 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 848, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为物品字平底锅中", + "time": 28.281395421525875, + "annotations": { + "bbox_1768462801206": { + "type": "bbox", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003898.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003898.json new file mode 100644 index 0000000000000000000000000000000000000000..b68d435a71e563791a8822c44b28cf995053caa3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003898.json @@ -0,0 +1,450 @@ +{ + "task_description": "拿起盖子，然后把它放在锅上\n准备开始移动：0%\n接近锅盖：20%\n夹住锅盖：50%\n将锅盖夹起：70%\n将锅盖夹至锅上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至锅盖上方，向下移动，合拢爪夹，夹住盖子，向上移动，向左移动至锅上方，向下移动，松开爪夹", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003923.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003923.json new file mode 100644 index 0000000000000000000000000000000000000000..be5e6dfe2ec6580c69a9ce039e43999287ecb206 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003923.json @@ -0,0 +1,379 @@ +{ + "task_description": "从盒子里拿出一张纸巾\n准备开始移动：0%\n接近纸巾：20%\n夹住纸巾：50%\n将纸巾夹起：70%\n将纸巾夹至桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左前方移动至纸巾上方，向下移动，合拢爪夹，夹住纸巾，向上移动，向右移动至桌面上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004480.json @@ -0,0 +1,260 @@ +{ + "task_description": "爪夹将水龙头推到水槽中心。\n爪夹移动：0%\n爪夹靠近水龙头：30%\n爪夹第一次推动水龙头：60%\n爪夹将水龙头推到水槽中心：100%", + "progress_points": [ + { + "action_description": "爪夹保持状态，暂未移动。", + "correction_plan": "调整爪夹向爪夹方向的前方移动至水龙头附近，准备推动水龙头，爪夹合拢，向爪夹方向左侧推动水龙头燃弧再次调整爪夹角度，再次推动水龙头至水槽中心。", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触水龙头。\n为完成爪夹将水龙头推到水槽中心的任务应当:调\n整爪夹向爪夹方向的前方移动至水龙头附近，准备推动水龙头。", + "time": 1.2174894460082202, + "annotations": { + "bbox_1766980218900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980218900_1766980325026_vvnd0714t", + "x": 0.6734463741287059, + "y": 0.5140158964177625, + "width": 0.03125, + "height": 0.08236033147708798 + } + ] + }, + "bbox_1766980288947": { + "type": "bbox", + 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}, + { + "action_description": "爪夹向爪夹方向左侧推动水龙头，再次调整爪夹方向贴近水龙头。", + "correction_plan": "爪夹继续推动水龙头至水槽中心。", + "error_success_analysis": "爪夹处于合拢状态，向爪夹方向左侧推动水龙头靠近水槽中心附近，方便继续推动水龙头至水槽中心。", + "frame": 358, + "progress": 60, + "progress_explanation": "目前爪夹处于合拢状态，向爪夹方向左侧推动水龙头靠近水槽中心附近，所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，贴近水龙头。\n为完成爪夹将水龙头推到水槽中心的任务应当:爪夹向爪夹方向左侧继续推动水龙头至水槽中心。", + "time": 11.94943345156216, + "annotations": { + "bbox_1766980288947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980288947_1766980443024_5qoaoirlg", + "x": 0.5129943856617994, + "y": 0.5583918662944245, + "width": 0.21016950602003243, + "height": 0.21895795441469715 + } + ] + }, + "bbox_1766980218900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980218900_1766980447896_3mfp3kwio", + "x": 0.6757062612902116, + "y": 0.5543742891492006, + "width": 0.02259887161505727, + "height": 0.06629002289619268 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧继续推动水龙头至水槽中心", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹合拢，向爪夹方向左侧推动水龙头至水槽中心", + "frame": 449, + "progress": 100, + "progress_explanation": "目前爪夹处于合拢状态，向爪夹方向左侧推动水龙头至水槽中心，所以进度提升为100%。", + "state_description": "当前状态为爪夹合拢，已完成爪夹将水龙头推到水槽中心的任务。\n为完成爪夹将水龙头推到水槽中心的任务应当:爪夹向爪夹方向左侧推动水龙头至水槽中心。", + "time": 14.970610965730708, + "annotations": { + "bbox_1766980288947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980288947_1766980465327_qs619h5q4", + "x": 0.5118644420810465, + "y": 0.5563830777218125, + "width": 0.2112994496007853, + "height": 0.22297553155992117 + } + ] + }, + "bbox_1766980218900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980218900_1766980468935_fkpmrksqd", + "x": 0.590960492733747, + "y": 0.5101809405517388, + "width": 0.09152543004098179, + "height": 0.07432517718664036 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766980218900", + "name": "水龙头", + "color": "#4CAF50" + }, + { + "id": "bbox_1766980288947", + "name": "水槽中心", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766980300627", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766980309635", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004595.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004595.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfc45588828f571eec34d85d8fd4b3e8bb954e3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004595.json @@ -0,0 +1,318 @@ +{ + "task_description": "把那支紫色的笔放进黑色的垃圾桶里。\n爪夹开始移动：0%\n爪夹靠近紫色笔：30%\n爪夹抓取紫色笔：40%\n爪夹抓取紫色笔移动靠近黑色垃圾桶：60%\n爪夹抓取紫色笔放进黑色垃圾桶里：80%\n爪夹松开，紫色笔落进黑色垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先向爪夹方向的前方移动，然后调整爪夹角度旋转使其垂直于桌面，向下移动至紫色笔上方，准备抓取紫色笔，然后抬升至空中，向抓夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:调整爪夹角度旋转使其垂直于桌面，然后向爪夹方向的前方移动至紫色笔上方，准备抓取紫色笔。", + "time": 0.7333333333333333, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766988463028_jy97opch6", + "x": 0.6418079538676258, + "y": 0.31166469954394593, + "width": 0.11751413239829764, + "height": 0.18279976010768298 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988425230_1766988520021_odwh2cf7b", + "x": 0.5717514518609483, + "y": 0.47839415107073374, + "width": 0.051977404714631706, + "height": 0.05555555555555555 + } + ] + }, + "point_1766988439356": { + "type": "point", + "instances": [ + { + "id": "point_1766988439356_1766988641689_e9aqr9qhp", + "x": 0.9152543004098185, + "y": 0.14895282516238187 + } + ] + }, + "point_1766988447941": { + "type": "point", + "instances": [ + { + "id": "point_1766988447941_1766988644946_gj4mgplxg", + "x": 0.8666667264374454, + "y": 0.13890888229932236 + } + ] + } + } + }, + { + "time": 4.3216, + "frame": 130, + "progress": 20, + "action_description": "爪夹向下移动，向爪夹方向右侧旋转。", + "state_description": "当前状态为爪夹打开，向紫色笔靠近。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:爪夹向爪夹方向的前方移动至紫色笔上方，准备抓取紫色笔。", + "progress_explanation": "目前爪夹处于张开状态，向下移动靠近紫色笔，方便抓取紫色笔，所以进度为20%。", + "error_success_analysis": "爪夹处于张开状态，向下移动靠近紫色笔，方便抓取紫色笔。", + "correction_plan": "调整爪夹角度旋转使其垂直于桌面，向下移动至紫色笔上方，准备抓取紫色笔，然后抬升至空中，向抓夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766988980811_xfs779ula", + "x": 0.63954806670612, + "y": 0.3116646995439459, + "width": 0.12203390672130902, + "height": 0.17878218296245924 + } + ] + }, + "point_1766988439356": { + "type": "point", + "instances": [ + { + "id": "point_1766988439356_1766988985971_j6rk4h0ul", + "x": 0.6689265998056945, + "y": 0.3377789509879006 + } + ] + }, + "point_1766988447941": { + "type": "point", + "instances": [ + { + "id": "point_1766988447941_1766988988083_7y0srczfw", + "x": 0.64745767177139, + "y": 0.29157681381782685 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988425230_1766988993347_nz10j7dzy", + "x": 0.5751412826032068, + "y": 0.4844205167885694, + "width": 0.04858757397237303, + "height": 0.03414940573440235 + } + ] + } + } + }, + { + "action_description": "调整爪夹角度旋转使其垂直于桌面，然后向爪夹方向的前方移动至紫色笔上方。", + "correction_plan": "爪夹抓取紫色笔抬升至空中，向爪夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "爪夹处于靠近紫色笔，方便抓取紫色笔。", + "frame": 248, + "progress": 30, + "progress_explanation": "目前爪夹处于靠近紫色笔，方便抓取紫色笔，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近紫色笔。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:爪夹合拢抓取紫色笔提升至空中。", + "time": 8.26123447168148, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766989019595_e9bhxd4mm", + "x": 0.6225989129948271, + "y": 0.29961196810827445, + "width": 0.13898306043260203, + "height": 0.20087885726119012 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988425230_1766989025474_j3g64cnei", + "x": 0.5740113390224539, + "y": 0.4844205167885694, + "width": 0.06101695336065456, + "height": 0.03414940573440235 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取紫色笔提升至空中", + "correction_plan": "继续保持爪夹合拢，向爪夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "爪夹保持合拢，抓取紫色笔成功使其抬升并移动。", + "frame": 318, + "progress": 40, + "progress_explanation": "紫色笔已被抓取并成功开始抬升和移动，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧紫色笔，紫色笔意被抬升至空中。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:继续保持爪夹合拢，向爪夹方向的右侧移动。", + "time": 10.599319699515858, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766989043306_akdtjtcpu", + "x": 0.6271186873178386, + "y": 0.309655910971334, + "width": 0.13446328610959055, + "height": 0.18882612582551875 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988425230_1766989047297_8xt9e5hnh", + "x": 0.5728813954417011, + "y": 0.37996351101275055, + "width": 0.05875706619914878, + "height": 0.046202137170073675 + } + ] + } + } + }, + { + "action_description": "爪夹抓取紫色笔向爪夹方向右侧移动靠近垃圾桶。", + "correction_plan": "向爪夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "爪夹抓取紫色笔成功向爪夹方向右侧移动靠近垃圾桶，方便爪夹吧紫色笔放进垃圾桶里。", + "frame": 354, + "progress": 60, + "progress_explanation": "紫色笔已被抓取并成功向爪夹方向右侧移动靠近垃圾桶，所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧紫色笔靠近垃圾桶。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:继续保持爪夹合拢，向抓夹方向的右侧移动放进垃圾桶里。", + "time": 11.794341038186763, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766989064633_ospdg1rgo", + "x": 0.6429378974483786, + "y": 0.309655910971334, + "width": 0.11864407597905054, + "height": 0.18480854868029495 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988425230_1766989068982_j2zr050fw", + "x": 0.6440678410291315, + "y": 0.2152428480585746, + "width": 0.04971751755312592, + "height": 0.07633396575925226 + } + ] + }, + "point_1766988439356": { + "type": "point", + "instances": [ + { + "id": "point_1766988439356_1766989071762_z1jcsbxgl", + "x": 0.6949153021630103, + "y": 0.28354165952737925 + } + ] + } + } + }, + { + "action_description": "爪夹抓取紫色笔向爪夹方向右侧移动放进垃圾桶里。", + "correction_plan": "爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "爪夹抓取紫色笔成功向爪夹方向右侧移动放进垃圾桶里。", + "frame": 392, + "progress": 80, + "progress_explanation": "爪夹抓取紫色笔成功向爪夹方向右侧移动放进垃圾桶里，所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓紧紫色笔放进垃圾桶里。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:爪夹松开，紫色笔落入垃圾桶里。", + "time": 13.075958126036722, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766989097593_j3bdgpbet", + "x": 0.6429378974483786, + "y": 0.3116646995439459, + "width": 0.11299435807528617, + "height": 0.17878218296245924 + } + ] + } + } + }, + { + "action_description": "爪夹松开，紫色笔落入黑色垃圾桶里，爪夹抬升。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，紫色笔成功落入黑色垃圾桶里。", + "frame": 426, + "progress": 100, + "progress_explanation": "爪夹松开，紫色笔成功落入黑色垃圾桶里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，已完成爪夹抓取紫色笔放进垃圾桶里的任务。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:紫色笔落入垃圾桶里，爪夹抬升移动至原位。", + "time": 14.184383715528577, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766989114487_zg9gngwfo", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004831.json new file mode 100644 index 0000000000000000000000000000000000000000..435a611b538522428999f2f66737170637f76589 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004831.json @@ -0,0 +1,352 @@ +{ + "task_description": "把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上。\n爪夹开始移动：0%\n爪夹靠近烧瓶顶部盖子：30%\n爪夹抓取烧瓶盖子：40%\n爪夹抓取烧瓶盖子移动：60%\n爪夹抓取烧瓶盖子放在桌面上：80%\n爪夹松开，烧瓶盖子放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向爪夹方向的左前方移动至烧瓶盖子上方，抓取烧瓶盖子抬升至空中，然后向爪夹方向右侧移动，随后下降贴近桌面，松开爪夹，盖子放在桌面上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，调整爪夹角度，准备开始移动，所以进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触清烧瓶。\n为完成把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上的任务应当:调整爪夹角度，向爪夹方向的左前方移动至烧瓶盖子上方，准备抓取烧瓶盖子。", + "time": 0.4666666666666667, + "annotations": { + "bbox_1766997440441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997440441_1766997487586_pr5k9rnxg", + "x": 0.4711864731739436, + "y": 0.29961196810827445, + "width": 0.03954802532635018, + "height": 0.060263657178357063 + } + ] + }, + "bbox_1766997451713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997451713_1766997492296_71cohwy1x", + "x": 0.3468926792911287, + "y": 0.3679107795770791, + "width": 0.42372884278232326, + "height": 0.5745135317670038 + } + ] + }, + "point_1766997461664": { + "type": "point", + "instances": [ + { + "id": "point_1766997461664_1766997495985_qnu3gp5m7", + "x": 0.29378533099574416, + "y": 0.5507105396847621 + } + ] + }, + "point_1766997470087": { + "type": "point", + "instances": [ + { + "id": "point_1766997470087_1766997498775_vjo5xhksp", + "x": 0.2881356130919799, + "y": 0.5928950997096121 + } + ] + } + } + }, + { + "action_description": "爪夹抬起，然后向爪夹方向左前方准备开始移动。", + "correction_plan": "向爪夹方向的左前方移动至烧瓶盖子上方，抓取烧瓶盖子抬升至空中，然后向爪夹方向右侧移动，随后下降贴近桌面，松开爪夹，盖子放在桌面上。", + "error_success_analysis": "爪夹处于张开状态，调整爪夹角度，方便向爪夹左前方移动靠近烧瓶，抓取烧瓶。", + "frame": 58, + "progress": 10, + "progress_explanation": "目前爪夹处于张开状态，调整爪夹角度，方便向爪夹左前方移动靠近烧瓶，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，调整爪夹角度准备开始移动。\n为完成把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上的任务应当:向爪夹方向的左前方移动至烧瓶盖子上方，方便抓取烧瓶盖子。", + "time": 1.941929228426344, + "annotations": { + "bbox_1766997451713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997451713_1766997524465_masc0bzmv", + "x": 0.3423729049681173, + "y": 0.3618844138592434, + "width": 0.4282486171053348, + "height": 0.6026365717835707 + } + ] + }, + "bbox_1766997440441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997440441_1766997529351_ac7nx0v4l", + "x": 0.47005652959319066, + "y": 0.29157681381782685, + "width": 0.04067796890710307, + "height": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005311.json new file mode 100644 index 0000000000000000000000000000000000000000..65e4d213ce6b8c32fb5e737257851a9752fb5deb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005311.json @@ -0,0 +1,702 @@ +{ + "task_description": "任务描述：\n抓取灰色碗放到绿色标记上：\n准备开始移动：0%\n爪夹靠近灰色碗：20%\n爪夹抓取灰色碗：40%\n爪夹抓紧灰色碗接近绿色标记：60%\n爪夹将灰色碗放到绿色标记上：80%\n爪夹松开灰色碗落到绿色标记上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767094906776": { + "instances": [ + { + "height": 0.20088888888888878, + "id": "bbox_1767094906776_1767095032846_ib7b65061", + "width": 0.14700000897216844, + "x": 0.2820909596002783, + "y": 0.5769242621527778 + } + ], + "type": "bbox" + }, + "bbox_1767094917960": { + "instances": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json new file mode 100644 index 0000000000000000000000000000000000000000..e7983cb9792928e479555038993352765a56a0a5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json @@ -0,0 +1,497 @@ +{ + "task_description": "任务描述：\n抓住柜子上的门把手并把柜门打开：\n准备开始移动：0%\n爪夹靠近柜门把手：20%\n爪夹抓住柜门把手：40%\n爪夹抓紧柜门把手并把柜门打开：60%\n爪夹将柜门打开：80%\n爪夹松开把柜门打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1767173712134": { + "instances": [ + { + "id": "point_1767173712134_1767174059498_bm2aqdpla", + "x": 0.7740909896295769, + "y": 0.6578838433159723 + } + 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diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006696.json 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-009/observation.images.wrist_image_left/episode_009976.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-009/observation.images.wrist_image_left/episode_009976.json new file mode 100644 index 0000000000000000000000000000000000000000..d870b1331aa6bd30541b6ffb5706854ca92ed991 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0000/annotations/chunk-009/observation.images.wrist_image_left/episode_009976.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓取锅盖放到另一个锅上：\n准备开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓紧锅盖接近另一个锅：60%\n爪夹将锅盖放到另一个锅上：80%\n爪夹松开锅盖落到另一个锅上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹后方的锅盖移动，同时调整爪夹的角度使其垂直与锅盖，并移动到锅盖的正上方。接着落下爪夹靠近锅盖，接近锅盖后爪夹合拢抓取锅盖。抓紧锅盖垂直升高爪夹并向爪夹左前方的另一个锅接近，水平到达另一个锅的正上方后将锅盖对应另一个锅，松开爪夹，使锅盖落到另一个锅上。", + "error_success_analysis": "无", 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"point_1767672619828", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc475f04d0cedbc3b662bb9681390f404711fb8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json @@ -0,0 +1,388 @@ +{ + "task_description": "从黑锅上取下玻璃盖。\n开始移动：0%\n爪夹靠近玻璃盖：20%\n爪夹抓取玻璃盖：40%\n爪夹抓住玻璃盖并接近黑锅左侧桌面：60%\n爪夹保持合拢并移动到黑锅左侧桌面的上方：80%\n爪夹松开，使玻璃盖落在桌面上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面，下降至玻璃盖的正上方，下降爪夹并合拢抓取玻璃盖，抬起爪夹，向爪夹的左方移动，至旁边桌面的正上方，下降爪夹，将玻璃盖放在旁边桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "", + "frame": 21, + "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，没有接触玻璃盖。\n为完成从黑锅上取下玻璃盖的任务应当：调整爪夹角度，使其垂直于桌面，下降至玻璃盖的正上方。", + "time": 0.6974226804123711, + "annotations": { + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975681801_1wsvtz450", + "x": 0.0025000000000000356, + "y": 0.2524444444444444, + "width": 0.778, + "height": 0.7306666666666667 + } + ] + }, + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975686577_n9ui936sf", + "x": 0.5305, + "y": 0.4391111111111111, + "width": 0.14300000000000007, + "height": 0.1244444444444444 + } + ] + }, + "point_1766973799912": { + "type": "point", + "instances": [ + { + "id": "point_1766973799912_1766975689873_abpzbyp54", + "x": 0.6675, + "y": 0.19733333333333336 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"爪夹向爪夹下方移动，并成功抓取玻璃盖。\n", + "frame": 113, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取玻璃盖，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玻璃盖。\n为完成从黑锅上取下玻璃盖的任务应当：抬起爪夹，向爪夹的左方移动，至黑锅左侧桌面的正上方。", + "time": 3.7829896907216494, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975767624_d2e7x0we7", + "x": 0.5245, + "y": 0.43377777777777776, + "width": 0.13799999999999998, + "height": 0.12088888888888892 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975773024_w4kh6ai45", + "x": 0.0025, + "y": 0.26844444444444443, + "width": 0.7809999999999999, + "height": 0.7182222222222222 + } + ] + }, + "point_1766973799912": { + "type": "point", + "instances": [ + { + "id": "point_1766973799912_1766975783088_1of6uzg07", + "x": 0.5815, + "y": 0.46399999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方移动，抓住玻璃盖向爪夹方向的左侧移动。\n", + "correction_plan": "爪夹移动至黑锅左侧桌面的正上方，下降爪夹，将玻璃盖放在黑锅左侧桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹成功抓取玻璃盖，并在向着的黑锅左侧桌面方向靠近。\n", + "frame": 157, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住玻璃盖，并在水平方向上靠近黑锅左侧桌面，因此进度为60%。\n", + "state_description": "当前爪夹合拢，抓住玻璃盖，位于黑锅的左上方。\n为完成从黑锅上取下玻璃盖的任务应当：抬起爪夹，爪夹移动至黑锅左侧桌面的正上方，下降爪夹。", + "time": 5.228556701030927, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975790216_md1x99nzr", + "x": 0.5175, + "y": 0.4195555555555555, + "width": 0.16400000000000006, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975793936_2oa8g476r", + "x": 0.004500000000000104, + "y": 0.2488888888888889, + "width": 0.776, + "height": 0.7360000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧玻璃盖向爪夹方向的左侧移动。\n", + "correction_plan": "下降爪夹，将玻璃盖放在黑锅左侧桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹已经抓取到玻璃盖，并移动到了黑锅左侧桌面的正上方。\n", + "frame": 207, + "progress": 80, + "progress_explanation": "当前爪夹已抓住玻璃盖并移动至黑锅左侧桌面的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住玻璃盖处于黑锅左侧桌面的正上方。\n为完成从黑锅上取下玻璃盖的任务应当：下降爪夹，将玻璃盖放在黑锅左侧桌面上。", + "time": 6.910824742268041, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975808280_v9wh0zfq2", + "x": 0.5225000000000001, + "y": 0.6026666666666667, + "width": 0.19799999999999995, + "height": 0.30222222222222217 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975811296_614t65xij", + "x": 0.004500000000000015, + "y": 0.192, + "width": 0.7910000000000001, + "height": 0.7928888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，将玻璃盖放在黑锅左侧桌面上。\n", + "correction_plan": "松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "成功将玻璃盖放在桌面上。\n", + "frame": 112, + "progress": 90, + "progress_explanation": "当前爪夹合拢，成功将玻璃盖放在桌面上，因此进度提升至90%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n为完成从黑锅上取下玻璃盖的任务应当：松开爪夹，使玻璃盖落在桌面上。", + "time": 7.466666666666667, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975830511_2eccsfdho", + "x": 0.5115000000000001, + "y": 0.6382222222222222, + "width": 0.195, + "height": 0.25777777777777783 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975834375_23j91wccd", + "x": 0.0014999999999999291, + "y": 0.22933333333333333, + "width": 0.7889999999999999, + "height": 0.7591111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹张开，玻璃盖落下。\n", + "correction_plan": "", + "error_success_analysis": "爪夹松开，玻璃盖落在桌面上。\n", + "frame": 122, + "progress": 100, + "progress_explanation": "玻璃盖成功落在桌面上，因此进度提升至100%\n", + "state_description": "当前爪夹张开，玻璃盖落在桌面上。已完成从黑锅上取下玻璃盖的任务。\n", + "time": 8.133333333333333, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975845967_nf9ydwg38", + "x": 0.5035000000000001, + "y": 0.64, + "width": 0.20700000000000002, + "height": 0.26311111111111113 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975849655_cqg5x1eqv", + "x": 0.0034999999999999476, + "y": 0.23644444444444446, + "width": 0.7920000000000001, + "height": 0.7466666666666668 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766973798832", + "name": "玻璃盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1766973799200", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766973799912", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766973800136", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8ae795f7d947da6c8dd1a5c1a094fd5dd305a2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json @@ -0,0 +1,418 @@ +{ + "task_description": "按下棕色物体上的按钮。\n爪夹开始移动：0%\n爪夹靠近棕色物体：20%\n爪夹到达棕色物体的正上方：40%\n爪夹合拢下降至按钮的正上方：70%\n爪夹下降按下按钮：100%", + "progress_points": [ + { + "time": 1.281599, + "frame": 38, + "progress": 0, + "action_description": "爪夹没有出现在画面内。", + "state_description": "当前爪夹没有移动，没有在画面内。\n为完成按下棕色物体上的按钮的任务应当：爪夹向爪夹的右下方移动，使爪夹出现在画面内。", + "progress_explanation": "当前爪夹没有在画面内，因此进度为0%。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001914.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001914.json new file mode 100644 index 0000000000000000000000000000000000000000..715731e6ec1a40bd54043defd7c6c8161596de6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001914.json @@ -0,0 +1,402 @@ +{ + "task_description": "把毛巾移到右边。\n开始移动：0%\n爪夹靠近毛巾：30%\n爪夹抵住毛巾：60%\n爪夹抵住毛巾靠近桌子右边：80%\n爪夹抵住毛巾移动到桌子右边：100%", + "progress_points": [ + { + "time": 1.7608, + "frame": 53, + "progress": 0, + "action_description": "爪夹没有出现在屏幕内。", + "state_description": "当前爪夹没有出现\n为完成把毛巾移到右边的任务应当：爪夹向前移动，并向下移动，使爪夹出现在屏幕内。", + "progress_explanation": "当前爪夹没有出现，因此进度为0%。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001156.json new file mode 100644 index 0000000000000000000000000000000000000000..ccbb0a8ec4e408a6c739361d6340ad736389fefb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001156.json @@ -0,0 +1,450 @@ +{ + "task_description": "拿起锅盖，关上锅盖。\n开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓住锅盖并接近黑锅：60%\n爪夹保持合拢并移动到黑锅的上方：80%\n爪夹松开，使锅盖落在黑锅上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，并靠近锅盖，向爪夹的左后方移动至锅盖的正上方，下降并抓住锅盖，爪夹抬起，向爪夹的左前方移动，靠近黑锅，到达黑锅的正上方，爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "", + "frame": 67, + "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，没有接触锅盖。\n为完成拿起锅盖，盖上锅盖的任务应当：调整爪夹角度，并靠近锅盖，向爪夹的左后方移动至锅盖的正上方。", + "time": 2.238350485051546, + "annotations": { + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766998995674_ixtfbuvz7", + "x": 0.4575, + "y": 0.6986666666666667 + } + ] + }, + "point_1766996049989": { + "type": "point", + "instances": [ + { + "id": "point_1766996049989_1766998998033_bhfhen9mz", + "x": 0.7675, + "y": 0.6702222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动并微调角度。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，向爪夹的左后方移动至锅盖的正上方，下降并抓住锅盖，爪夹抬起，向爪夹的左前方移动，靠近黑锅，到达黑锅的正上方，爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "爪夹向爪夹的左后方移动，水平方向上略微接近锅盖。", + "frame": 179, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近锅盖，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上略微接近锅盖。\n为完成拿起锅盖，盖上锅盖的任务应当：调整爪夹角度，使爪夹垂直于桌面。", + "time": 5.956288578865979, + "annotations": { + "point_1766996049989": { + "type": "point", + "instances": [ + { + "id": "point_1766996049989_1766999001922_up4cea34b", + "x": 0.7715, + "y": 0.6791111111111111 + } + ] + }, + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766999003770_3ipv550hq", + "x": 0.4645, + "y": 0.6826666666666666 + } + ] + }, + "bbox_1766996048613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048613_1766999007082_lhk1lnfl8", + "x": 0.4405, + "y": 0.42666666666666664, + "width": 0.15499999999999997, + "height": 0.23111111111111116 + } + ] + }, + "bbox_1766996048917": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048917_1766999010458_c7hqzjthy", + "x": 0.0025, + "y": 0.42666666666666664, + "width": 0.157, + "height": 0.41600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动，并调整角度，使爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹的后下方移动至锅盖的正上方，下降并抓住锅盖，爪夹抬起，向爪夹的左前方移动，靠近黑锅，到达黑锅的正上方，爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "爪夹向爪夹的后下方移动，水平方向上成功接近锅盖，并使爪夹垂直于桌面，方便抓取。", + "frame": 142, + "progress": 20, + "progress_explanation": 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"point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766999062705_r6yrpf1yk", + "x": 0.5735, + "y": 0.6026666666666667 + } + ] + }, + "point_1766996049989": { + "type": "point", + "instances": [ + { + "id": "point_1766996049989_1766999064457_akia6shcc", + "x": 0.6515000000000001, + "y": 0.5795555555555556 + } + ] + }, + "bbox_1766996048917": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048917_1766999071241_84syqoh0k", + "x": 0.1355, + "y": 0.005333333333333333, + "width": 0.2919999999999999, + "height": 0.448 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧锅盖向爪夹方向的左侧移动。\n", + "correction_plan": "爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "爪夹已经抓住锅盖，并移动到了黑锅的正上方。\n", + "frame": 243, + "progress": 80, + "progress_explanation": "当前爪夹已抓住锅盖并移动至黑锅的正上方，因此进度为80%。\n", + "state_description": "当前爪夹保持合拢，抓住锅盖处于黑锅的正上方。\n为完成拿起锅盖，盖上锅盖的任务应当：爪夹下降，将锅盖放在黑锅上。", + "time": 16.2, + "annotations": { + "bbox_1766996048917": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048917_1766999079417_6t99r2fvd", + "x": 0.21350000000000002, + "y": 0.04977777777777778, + "width": 0.39999999999999997, + "height": 0.4853333333333334 + } + ] + }, + "bbox_1766996048613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048613_1766999084545_ffqltg3vs", + "x": 0.41450000000000004, + "y": 0.30577777777777776, + "width": 0.363, + "height": 0.5226666666666667 + } + ] + }, + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766999086585_61pfbixs0", + "x": 0.5845, + "y": 0.5671111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，到黑锅的上方。\n", + "correction_plan": "松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "爪夹向爪夹的下方移动，再次接近黑锅。", + "frame": 309, + "progress": 90, + "progress_explanation": "当前爪夹成功位于黑锅的上方，再次接近黑锅，因此进度提升至90%。", + "state_description": "当前爪夹保持合拢，位于黑锅的上方。\n为完成拿起锅盖，盖上锅盖的任务应当：松开爪夹，使锅盖落在黑锅上。", + "time": 20.6, + "annotations": { + "bbox_1766996048917": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048917_1766999093688_jsjw46il8", + "x": 0.1865, + "y": 0.012444444444444445, + "width": 0.585, + "height": 0.7626666666666667 + } + ] + }, + "bbox_1766996048613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048613_1766999099160_hco7vh1l7", + "x": 0.40650000000000003, + "y": 0.29511111111111116, + "width": 0.36099999999999993, + "height": 0.512 + } + ] + } + } + }, + { + "action_description": "爪夹松开，锅盖落下。", + "correction_plan": "", + "error_success_analysis": "锅盖成功落在黑锅上。", + "frame": 632, + "progress": 100, + "progress_explanation": "当前锅盖成功落在黑锅上，因此进度提升至100%。", + "state_description": "当前爪夹松开，锅盖落在黑锅上，已经完成拿起锅盖，盖上锅盖的任务。", + "time": 21.080961912886597, + "annotations": { + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766999104008_wlxv710ln", + "x": 0.5195000000000001, + "y": 0.5777777777777777 + } + ] + }, + "bbox_1766996048613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048613_1766999107920_xuxtucymq", + "x": 0.4205, + "y": 0.256, + "width": 0.351, + "height": 0.5102222222222224 + } + ] + }, + "bbox_1766996048917": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048917_1766999114240_iju7wzb50", + "x": 0.1895, + "y": 0.008888888888888889, + "width": 0.5900000000000001, + "height": 0.7591111111111112 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766996048613", + "name": "锅盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1766996048917", + "name": "黑锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766996049693", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766996049989", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json new file mode 100644 index 0000000000000000000000000000000000000000..07831e82deeec85be438bd867b9eac37edfd4c55 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json @@ -0,0 +1,90 @@ +{ + "task_description": "打开水管开关，将水接入马克杯中，接着关闭水管。\n开始移动：0%\n爪夹靠近水管开关：30%\n爪夹将水管开关拨开：50%\n将水接入马克杯中：70%\n爪夹将水管开关关闭：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "向爪夹的后方靠近水管开关，到达开关的周围，将开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "", + "frame": 24, + "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，没有接触水管开关。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：向爪夹的后方靠近水管开关，到达开关的周围，将开关拨开。", + "time": 0.786769775773196 + }, + { + "action_description": "爪夹向爪夹的后方移动，靠近水管开关。", + "correction_plan": "爪夹向爪夹后方移动，到达开关周围，将水管开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹向爪夹的后方移动，接近水管开关。", + "frame": 28, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上接近水管开关，因此进度提升至30%。", + "state_description": "当前爪夹垂直于水槽上方，在水平方向上接近水管开关。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：爪夹向爪夹后方移动，到达开关周围，将水管开关拨开。", + "time": 1.8666666666666667 + }, + { + "action_description": "爪夹继续向爪夹的后方移动，到达开关的周围。", + "correction_plan": "爪夹半合拢将开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹向爪夹的后方移动，成功到达开关的周围", + "frame": 58, + "progress": 50, + "progress_explanation": "当前爪夹成功移动到开关周围，因此进度提升至50%。", + "state_description": "当前爪夹已经位于开关的周围。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：爪夹半合拢将开关拨开。", + "time": 3.8666666666666667 + }, + { + "action_description": "爪夹半合拢并将水管开关拨开。", + "correction_plan": "将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹成功将开关打开。", + "frame": 178, + "progress": 70, + "progress_explanation": "当前爪夹已经将开关打开，因此进度提升至70%。", + "state_description": "当前爪夹半合拢，垂直于开关上方。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：将水接入马克杯中，接着关闭水管。", + "time": 5.921477786082474 + }, + { + "action_description": "爪夹张开，向爪夹的右侧微调。", + "correction_plan": "合拢爪夹将开关关上。", + "error_success_analysis": "爪夹向爪夹的右侧微调，垂直于开关的上方。", + "frame": 203, + "progress": 80, + "progress_explanation": "当前爪夹垂直于开关的上方，因此进度提升至80%。", + "state_description": "当前爪夹张开，垂直于开关的上方。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：合拢爪夹将开关关上。", + "time": 6.766220071649485 + }, + { + "action_description": "爪夹合拢，将开关向爪夹右侧拨去。", + "correction_plan": "", + "error_success_analysis": "爪夹合拢，成功关上开关。", + "frame": 228, + "progress": 100, + "progress_explanation": "当前爪夹成功关上开关，因此进度提升至100%", + "state_description": "当前爪夹已经将开关关上，已经完成打开水管开关，将水接入马克杯中，接着关闭水管的任务。", + "time": 7.610962357216494 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767056650867", + "name": "水管开关", + "color": "#4CAF50" + }, + { + "id": "bbox_1767056651195", + "name": "马克杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767056652043", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767056652411", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json new file mode 100644 index 0000000000000000000000000000000000000000..01335a6d6d12752dc20ee2084609be2a14019b50 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json @@ -0,0 +1,497 @@ +{ + "task_description": "关上打开的抽屉。\n开始移动：0%\n爪夹靠近抽屉门：30%\n爪夹移动到抽屉门的两边，将其向爪夹右侧推去：70%\n爪夹将打开的抽屉关上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门，向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前爪夹是初始状态，没有移动，因此进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成关上打开的抽屉的任务应当：爪夹向抓夹的左下方移动，靠近抽屉门。", + "time": 1.7973539850515463, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061057740_bvwcyyngz", + "x": 0.45649999999999996, + "y": 0.632888888888889 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061059676_3m8ijfn4p", + "x": 0.7635, + "y": 0.6257777777777778 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061068340_a35r1roj6", + "x": 0.006499999999999992, + "y": 0.0017777777777777596, + "width": 0.746, + "height": 0.760888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动。", + "correction_plan": "调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门，爪夹向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向上接近抽屉门。", + "frame": 89, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上接近抽屉门，因此进度提升至15%。", + "state_description": "当前爪夹位于抽屉的上方，在水平方向上接近抽屉门。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门。", + "time": 2.9707560685567005, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061082188_yb5ztatu6", + "x": 0.4525, + "y": 0.624 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061084515_9rxdlzm4j", + "x": 0.7625, + "y": 0.6275555555555556 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061088163_gkiwb6536", + "x": 0.0025000000000000243, + "y": 0.0017777777777777596, + "width": 0.9190000000000002, + "height": 0.9884444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左下方移动。", + "correction_plan": "调整爪夹角度，使爪夹垂直于抽屉门，爪夹向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向进一步接近抽屉门。", + "frame": 164, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上进一步接近抽屉门。因此进度提升至30%。", + "state_description": "当前爪夹保持张开，在水平方向上进一步接近抽屉门。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门", + "time": 5.466563674742267, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061106907_cauc72jix", + "x": 0.4575, + "y": 0.624 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061109115_8g3q52efu", + "x": 0.7725000000000001, + "y": 0.6222222222222222 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061113083_lpbduzd1n", + "x": 0.27949999999999997, + "y": 0.0017777777777777794, + "width": 0.7190000000000001, + "height": 0.9955555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动，到达抽屉门的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，到达抽屉门的两侧，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "向爪夹的左下方移动，到达抽屉门的正上方。", + "frame": 95, + "progress": 45, + "progress_explanation": "当前爪夹已经移动至抽屉门的正上方，因此进度提升至45%。", + "state_description": "当前爪夹保持张开，位于抽屉门的正上方。\n为完成关上打开的抽屉的任务应当：爪夹向爪夹的下方移动，到达抽屉门的两侧。", + "time": 6.333333333333333, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061125619_nzaawe9w2", + "x": 0.4535, + "y": 0.6346666666666667 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061128267_vsfgt5sv2", + "x": 0.7635, + "y": 0.6204444444444445 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061133091_ptfysk1s8", + "x": 0.35350000000000004, + "y": 0.0035555555555555982, + "width": 0.643, + "height": 0.9902222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，到达抽屉门的两侧。", + "correction_plan": "将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "向爪夹的下方移动，成功到达抽屉门的两侧。", + "frame": 122, + "progress": 60, + "progress_explanation": "当前爪夹已经移动到抽屉门的两侧，因此进度提升至60%。", + "state_description": "当前爪夹在水平方向上位于抽屉门的两侧。\n为完成关上打开的抽屉的任务应当：将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "time": 8.2, + "annotations": { + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061146003_qs8nfwgx3", + "x": 0.35550000000000004, + "y": 0.005333333333333338, + "width": 0.639, + "height": 0.9866666666666666 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061154867_bb6dga0ry", + "x": 0.45149999999999996, + "y": 0.6168888888888889 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061156931_o6fl6vy0f", + "x": 0.7625, + "y": 0.6204444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧推去，并向爪夹的上方移动。", + "correction_plan": "调整爪夹角度，向爪夹的下方移动，到达抽屉门的左侧，重新将抽屉门向爪夹的右侧推去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的右侧推去，将抽屉关上一点。", + "frame": 143, + "progress": 65, + "progress_explanation": "当前爪夹保持张开，位于抽屉门的上方，抽屉门已经关上一点，因此进度提升至65%。", + "state_description": "当前爪夹保持张开，位于抽屉门的上方。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，向爪夹的下方移动，到达抽屉门的左侧。", + "time": 9.533333333333333, + "annotations": { + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061159939_lu732y2o3", + "x": 0.7695000000000001, + "y": 0.5955555555555556 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061162107_dhq6hkrs8", + "x": 0.4535, + "y": 0.6222222222222222 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061167987_mtcoo9pqu", + "x": 0.3155, + "y": 0.014222222222222223, + "width": 0.6729999999999999, + "height": 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"当前爪夹合拢，在抽屉门的左侧，准备向爪夹的右侧推去，因此进度提升至75%。", + "state_description": "当前爪夹合拢，位于抽屉门的左侧。\n为完成关上打开的抽屉的任务应当：向爪夹的右侧推去，使抽屉门关上。", + "time": 11.724708120103093, + "annotations": { + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061179170_wyfbt2vuy", + "x": 0.6195, + "y": 0.5084444444444445 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061181050_w5duzkklk", + "x": 0.5885, + "y": 0.5048888888888888 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061186354_x90uat1hf", + "x": 0.5025000000000001, + "y": 0.005333333333333333, + "width": 0.492, + "height": 0.9831111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动，并向爪夹的上方移动。", + "correction_plan": "重新向爪夹的下方移动，到达抽屉门的左侧，再次将抽屉门向爪夹的右侧推去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的右侧移动，进一步将抽屉门关上，接着向爪夹的上方移动。", + "frame": 396, + "progress": 85, + "progress_explanation": "当前爪夹进一步将抽屉门关上，因此进度提升至85%。", + "state_description": "当前爪夹进一步将抽屉门关上，在水平方向上位于抽屉门的上方。\n为完成关上打开的抽屉的任务应当：重新向爪夹的下方移动，到达抽屉门的左侧。", + "time": 13.214742511855668, + "annotations": { + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061193026_9g4xg3e01", + "x": 0.4795, + "y": 0.0035555555555555557, + "width": 0.516, + "height": 0.9937777777777779 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061196122_qtos6rgqe", + "x": 0.5885, + "y": 0.5137777777777778 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061198730_6ek4s041b", + "x": 0.6174999999999999, + "y": 0.512 + } + ] + } + } + }, + { + "time": 15.483133, + "frame": 464, + "progress": 90, + "action_description": "爪夹向爪夹的下方移动。", + "state_description": "当前爪夹在水平方向上位于抽屉门的左侧。\n为完成关上打开的抽屉的任务应当：将抽屉门向爪夹的右侧推去，使抽屉门关上。", + "progress_explanation": "当前爪夹已经位于抽屉门的左侧，因此进度提升至90%。", + "error_success_analysis": "爪夹向爪夹的下方移动，再次到达抽屉门的左侧。", + "correction_plan": "将抽屉门向爪夹的右侧推去，使抽屉门关上。", + "annotations": { + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061201522_x4pjwu70r", + "x": 0.6185, + "y": 0.5102222222222222 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061203618_e3r8q95oz", + "x": 0.5895, + "y": 0.5155555555555555 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061208450_k2zwtrld1", + "x": 0.4465, + "y": 0.005333333333333333, + "width": 0.549, + "height": 0.9831111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动，将抽屉门向右侧推去，使抽屉门关上。", + "correction_plan": "", + "error_success_analysis": "抽屉门成功关上。", + "frame": 249, + "progress": 100, + "progress_explanation": "当前抽屉门已经关上，因此进度提升至100%。", + "state_description": "当前爪夹已经将抽屉门关上，已经完成关上打开的抽屉的任务。", + "time": 16.6, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061212082_ogbkg2p0e", + "x": 0.5895, + "y": 0.5226666666666666 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061214546_g7vmc1bmh", + "x": 0.6145, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061222602_qz6ohhcfr", + "x": 0.3705, + "y": 0.0017777777777777779, + "width": 0.476, + "height": 0.9902222222222222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767057501041", + "name": "抽屉", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767057502586", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767057502978", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002234.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002234.json new file mode 100644 index 0000000000000000000000000000000000000000..f711726f882cbd7020190fe49fb44ba48ceee1ab --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002234.json @@ -0,0 +1,656 @@ +{ + "task_description": "把杯子从鞋子上取下来，把鞋子放在杯子上。\n开始移动：0%\n爪夹靠近杯子：15%\n爪夹抓住杯子：35%\n爪夹将杯子从鞋子上取下来，放在鞋子右侧的桌面上：55%\n爪夹靠近鞋子：70%\n爪夹抓住鞋子并靠近杯子：90%\n爪夹将鞋子放在杯子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方靠近，并向下移动，到达杯子的正上方，下降并抓取杯子，抬起爪夹，向爪夹的后方移动，到达鞋子右侧的正上方，下降爪夹，将杯子放在鞋子右侧的桌面上，松开爪夹，使杯子落在桌面上，抬起爪夹，向爪夹的前方靠近鞋子，到达鞋子的正上方，下降并抓取鞋子，抬起爪夹，向爪夹的后方移动，到达杯子的正上方，下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "", + "frame": 0, + "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，没有接触杯子 。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：向爪夹的前方靠近，并向下移动，到达杯子的正上方。", + "time": 0, + "annotations": { + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767065988814_b9tvqhgit", + "x": 0.5215, + "y": 0.7111111111111111, + "width": 0.06699999999999999, + "height": 0.13511111111111107 + } + ] + }, + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767065994214_8mgkrufcc", + "x": 0.4995, + "y": 0.7484444444444445, + "width": 0.129, + "height": 0.1866666666666668 + } + ] + }, + "point_1767062135600": { + "type": "point", + "instances": [ + { + "id": 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"爪夹向爪夹的下方移动，成功抓住鞋子。", + "frame": 309, + "progress": 75, + "progress_explanation": "当前爪夹已经抓住鞋子，因此进度提升至75%。", + "state_description": "当前爪夹合拢，成功抓住鞋子。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：抬起爪夹，向爪夹的后方移动，到达杯子的正上方。", + "time": 10.307559990206185, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066218780_6pp4k3zq7", + "x": 0.4615, + "y": 0.6951111111111111, + "width": 0.12699999999999995, + "height": 0.22044444444444447 + } + ] + }, + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066222732_kfx9q0twg", + "x": 0.5725, + "y": 0.7733333333333334, + "width": 0.08299999999999992, + "height": 0.1564444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动，并向爪夹的后方移动，靠近杯子。", + "correction_plan": "爪夹向爪夹的后方移动，到达杯子的正上方，下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "爪夹成功抓住鞋子，并向着杯子的方向靠近。", + "frame": 355, + "progress": 80, + "progress_explanation": "当前爪夹位于桌子的正上方，因此进度提升至80%。", + "state_description": "当前爪夹保持合拢，位于桌子的正上方。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：爪夹向爪夹的后方移动，到达杯子的正上方，下降爪夹，将鞋子放在杯子上。", + "time": 11.8470788685567, + "annotations": { + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066227468_9eg5tzb79", + "x": 0.5815, + "y": 0.7751111111111112, + "width": 0.07699999999999996, + "height": 0.14044444444444446 + } + ] + }, + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066232076_ywmg2r2j1", + "x": 0.4795, + "y": 0.6062222222222222, + "width": 0.09800000000000005, + "height": 0.27733333333333327 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方移动，到达杯子的正上方。", + "correction_plan": "下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "爪夹已经抓取到鞋子，并移动到了杯子的正上方。\n", + "frame": 407, + "progress": 85, + "progress_explanation": "当前爪夹已抓住鞋子并移动至杯子的正上方，因此进度为85%。", + "state_description": "当前爪夹合拢，垂直于杯子的正上方。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "time": 13.554982624226804, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066236747_bquyw0dl1", + "x": 0.5845, + "y": 0.6168888888888889, + "width": 0.09900000000000002, + "height": 0.26311111111111113 + } + ] + }, + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066240508_ikbxyg0bu", + "x": 0.5745, + "y": 0.8337777777777778, + "width": 0.08600000000000003, + "height": 0.096 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，将鞋子放在杯子上。", + "correction_plan": "松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "成功将鞋子放在被子上。", + "frame": 521, + "progress": 95, + "progress_explanation": "当前爪夹合拢，已经将鞋子放进杯子上，因此进度提升至95%。\n", + "state_description": "当前爪夹保持合拢，垂直于白杯子。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：松开爪夹，使鞋子落在杯子上。", + "time": 17.379724837628864, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066247235_j46f6xrrp", + "x": 0.5695, + "y": 0.656, + "width": 0.10599999999999996, + "height": 0.2328888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹松开，鞋子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，鞋子成功落在杯子上。", + "frame": 283, + "progress": 100, + "progress_explanation": "当前鞋子已经落在杯子上，因此进度提升至100%。", + "state_description": "当前爪夹张开，鞋子已经落在杯子上，已经完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务。", + "time": 18.866666666666667, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066250915_970v4agbl", + "x": 0.5775, + "y": 0.6577777777777778, + "width": 0.10699999999999994, + "height": 0.263111111111111 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767062134609", + "name": "杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1767062134880", + "name": "鞋子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767062135600", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767062135792", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json new file mode 100644 index 0000000000000000000000000000000000000000..c363bd469380f5bc595ef0e08d5447adb9b607e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json @@ -0,0 +1,490 @@ +{ + "task_description": "拿起锅盖，把它放到桌子上。\n开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓住锅盖：40%\n爪夹抓住锅盖并接近小锅右上方的桌面：60%\n爪夹保持合拢并移动至小锅右上方桌面的正上方：80%\n爪夹松开，使锅盖落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的前方移动，并向下移动靠近锅盖，移动至锅盖的正上方，下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，并未出现在画面中，因此进度为0%。", + "state_description": "当前爪夹没有移动，没有出现在画面中。\n为完成拿起锅盖，把它放到桌子上的任务应当：爪夹向爪夹的前方移动，并向下移动靠近锅盖，移动至锅盖的正上方。", + "time": 1.024054957216495, + "annotations": { + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078047075_i4mfziioy", + "x": 0.47850000000000004, + "y": 0.4088888888888889, + "width": 0.06299999999999999, + "height": 0.0764444444444444 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078069074_0y0nqp9c0", + "x": 0.27149999999999996, + "y": 0.31822222222222224, + "width": 0.457, + "height": 0.5546666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，靠近锅盖。", + "correction_plan": "爪夹向爪夹的前方并向下移动至锅盖的正上方，下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，并向下移动，在水平方向上接近锅盖。", + "frame": 40, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近锅盖，并开始调整爪夹角度方便抓取，因此进度提升至10%。", + "state_description": "当前爪夹垂直于桌面，在水平方向上接近锅盖。\n为完成拿起锅盖，把它放到桌子上的任务应当：向爪夹的前方移动，并下降，到达锅盖的正上方。", + "time": 2.6666666666666665, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078079011_pow26ddpt", + "x": 0.2665, + "y": 0.31466666666666665, + "width": 0.458, + "height": 0.5564444444444445 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078083770_1qcraiuzh", + "x": 0.4765, + "y": 0.4106666666666667, + "width": 0.06400000000000006, + "height": 0.07288888888888892 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078086083_rzpi3eayr", + "x": 0.48150000000000004, + "y": 0.29688888888888887 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，向爪夹的前方并向下移动，到达锅盖的正上方。", + "correction_plan": "下降爪夹并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的前方并向下移动，水平方向上成功接近锅盖，到达锅盖的正上方。", + "frame": 58, + "progress": 20, + "progress_explanation": "当前爪夹已经移动到锅盖的正上方，因此进度提升至20%。", + "state_description": "当前爪夹张开，垂直于锅盖的正上方。\n为完成拿起锅盖，把它放到桌子上的任务应当：下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方。", + "time": 3.8666666666666667, + "annotations": { + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078089242_peh2t9w17", + "x": 0.5115000000000001, + "y": 0.45155555555555554 + } + ] + }, + "point_1767078011123": { + "type": "point", + "instances": [ + { + "id": "point_1767078011123_1767078091755_pa6oe6zm5", + "x": 0.5245, + "y": 0.4106666666666667 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": 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"annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078133394_lxuut1aaq", + "x": 0.26949999999999996, + "y": 0.3111111111111111, + "width": 0.4620000000000001, + "height": 0.5760000000000001 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078138449_wkast9qaf", + "x": 0.47850000000000004, + "y": 0.416, + "width": 0.07199999999999998, + "height": 0.07644444444444447 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078141226_0r61t7jqd", + "x": 0.5075000000000001, + "y": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢并抓取锅盖。", + "correction_plan": "抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢成功抓到锅盖。", + "frame": 213, + "progress": 40, + "progress_explanation": "当前爪夹已经成功抓住锅盖，因此进度提升至40%。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓到锅盖。\n为完成拿起锅盖，把它放到桌子上的任务应当：抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方。", + "time": 7.085910475773196, + "annotations": { + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078144658_hokyfnfan", + "x": 0.5155000000000001, + "y": 0.44977777777777783 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078148986_0gwu7u4qj", + "x": 0.4795, + "y": 0.416, + "width": 0.06600000000000002, + "height": 0.06933333333333336 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078152402_5fqml4ymi", + "x": 0.27149999999999996, + "y": 0.3466666666666666, + "width": 0.45600000000000007, + "height": 0.5191111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动，并向爪夹的右上方移动。", + "correction_plan": "爪夹向爪夹的右上方移动到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹已经抓住锅盖，并在向着小锅右上方桌面的方向靠近。", + "frame": 119, 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002653.json @@ -0,0 +1,446 @@ +{ + "task_description": "把小吃条从水槽里拿出来，放在台面上。\n开始移动：0%\n爪夹靠近小吃条：20%\n爪夹抓住小吃条：40%。\n爪夹抓住小吃条并接近台面：60%\n爪夹保持合拢并移动到台面的正上方：80%\n爪夹松开，小吃条落在台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，暂未移动。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的前方并向下方移动，到达小吃条的正上方，下降爪夹并抓取小吃条，垂直抬起爪夹，向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前爪夹保持张开状态，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触小吃条。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的前方并向下方移动，到达小吃条的正上方。", + "time": 0.31278350515463915, + "annotations": { + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080469456_hj51626ah", + "x": 0.6985, + "y": 0.7911111111111111, + "width": 0.04299999999999997, + "height": 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"当前爪夹张开，在水平方向上略微接近小吃条。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：继续调整角度，使爪夹垂直于桌面，并向前移动，再向下移动，到达小吃条的正上方。", + "time": 1.4286597938144328, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080494960_nx1xd9utj", + "x": 0.7525000000000001, + "y": 0.5315555555555556 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080497824_ujz15v774", + "x": 0.8135, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080501600_swj4x92a0", + "x": 0.6985, + "y": 0.7946666666666666, + "width": 0.038999999999999965, + "height": 0.05688888888888894 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080505704_uwj5zclon", + "x": 0.27149999999999996, + "y": 0.4977777777777778, + "width": 0.728, + "height": 0.4888888888888888 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降。", + "correction_plan": "向爪夹的下方移动，到小吃条的正上方，下降并抓取小吃条，垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹向爪夹的前方移动同时下降，在水平方向上成功接近小吃条。", + "frame": 135, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近小吃条，因此进度提升至20%。", + "state_description": "当前爪夹保持张开，垂直于水槽的正上方。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：向爪夹的下方移动，到小吃条的正上方，下降并抓取小吃条。", + "time": 4.505773195876289, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080515120_ox0i4dnv8", + "x": 0.7165, + "y": 0.768 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080518280_abkmyt95m", + "x": 0.7635, + "y": 0.7573333333333333 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080522536_34elaisoe", + "x": 0.7045, + "y": 0.7964444444444445, + "width": 0.03500000000000005, + "height": 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+ } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767085186085", + "name": "勺子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767085186301", + "name": "盘子", + "color": "#FF9800" + }, + { + "id": "bbox_1767085187229", + "name": "红色碗", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767085187965", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767085188421", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002236.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002236.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf58bd6533915b8c83f110a10e3b3c5228b37f6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002236.json @@ -0,0 +1,582 @@ +{ + "task_description": "用黄色毛巾擦拭台面。\n开始移动：0%\n爪夹靠近黄色毛巾：30%\n爪夹抵住黄色毛巾：50%\n爪夹抵住黄色毛巾并四处擦拭台面：60%\n爪夹抬起：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "下降爪夹，调整角度，使爪夹垂直于桌面，向爪夹的下方移动，到达黄色毛巾的正上方，向爪夹的下方移动，使爪夹抵住黄色毛巾，并擦拭台面，爪夹抵住黄色毛巾向爪夹的前方移动，并擦拭桌面，爪夹向爪夹的右侧移动，擦拭桌面，再次向爪夹的后边移动擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前爪夹没有出现在画面中，因此进度为0%。", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。为完成用黄色毛巾擦拭台面的任务应当：下降爪夹，调整角度，使爪夹垂直于桌面，向爪夹的下方移动，到达黄色毛巾的正上方。", + "time": 0.8666666666666667, + "annotations": { + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767148989225_ae3c4z1ny", + "x": 0.0915, + "y": 0.35022222222222216, + "width": 0.28600000000000003, + 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"当前爪夹在水平方向上进一步接近黄色毛巾，并调整完角度，方便抓取，因此进度提升至20%。", + "state_description": "当前爪夹张开，垂直于桌面。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹向爪夹的下方移动，到达黄色毛巾的正上方。", + "time": 2.5688, + "annotations": { + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149061864_mg9s5k851", + "x": 0.3905, + "y": 0.3288888888888889 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149064529_4ocqtpkxk", + "x": 0.2855, + "y": 0.28800000000000003 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149071968_bb32fmwrj", + "x": 0.0925, + "y": 0.3466666666666667, + "width": 0.28700000000000003, + "height": 0.2613333333333333 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149076704_g9rzndyhv", + "x": 0.000499999999999999, + "y": 0.28800000000000003, + "width": 0.5770000000000001, + "height": 0.7004444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动，移动至黄色毛巾的正上方。\n", + "correction_plan": "向爪夹的下方移动，使爪夹保持张开并抵住黄色毛巾，并擦拭台面，爪夹抵住黄色毛巾向爪夹的前方移动，并擦拭桌面，爪夹向爪夹的右侧移动，擦拭桌面，再次向爪夹的后边移动擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近黄色毛巾，到达黄色毛巾的正上方，准备下降。", + "frame": 103, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至黄色毛巾的正上方，因此进度为30%。", + "state_description": "当前爪夹张开，到达黄色毛巾的正上方。\n为完成用黄色毛巾擦拭台面的任务应当：向爪夹的下方移动，使爪夹保持张开并抵住黄色毛巾。", + "time": 3.4255670103092783, + "annotations": { + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149084976_cjnvayxbr", + "x": 0.23349999999999999, + "y": 0.4053333333333334 + } + ] + }, + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149087168_1y4jqidgw", + "x": 0.3285, + "y": 0.4408888888888889 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": 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0.29688888888888887, + "width": 0.5820000000000001, + "height": 0.6933333333333334 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149137328_64lnuz9w9", + "x": 0.0995, + "y": 0.3377777777777778, + "width": 0.288, + "height": 0.2648888888888889 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149139799_msl7qogct", + "x": 0.2475, + "y": 0.4248888888888889 + } + ] + }, + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149142248_o6bgsnuuw", + "x": 0.3325, + "y": 0.4657777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹抵住黄色毛巾向爪夹的前方移动，并擦拭桌面。", + "correction_plan": "爪夹向爪夹的右侧移动，擦拭桌面，再次向爪夹的后边移动擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹向爪夹的前方移动，成功移动至桌面右侧。", + "frame": 71, + "progress": 60, + "progress_explanation": "当前爪夹向爪夹的前方移动至桌面右侧，并擦拭桌面，因此进度提升至60%。", + "state_description": "当前爪夹位于桌面右侧的正上方。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹向爪夹的右侧移动，擦拭桌面。", + "time": 4.733333333333333, + "annotations": { + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149145415_7aiysdq6p", + "x": 0.4225, + "y": 0.3822222222222222 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149147711_tx0byde24", + "x": 0.3735, + "y": 0.33955555555555555 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149153535_wi6yayxyk", + "x": 0.28250000000000003, + "y": 0.2808888888888889, + "width": 0.18200000000000002, + "height": 0.15288888888888888 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149159631_j0jtyvb9h", + "x": 0.0025, + "y": 0.2648888888888889, + "width": 0.588, + "height": 0.7306666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方下降，并向爪夹的右前方移动。", + "correction_plan": "向爪夹的右前方移动，进行擦拭动作，再次向爪夹的后边移动擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹再次下降并向爪夹的右前方移动。", + "frame": 175, + "progress": 65, + "progress_explanation": "当前爪夹再次下降，并压住黄色毛巾，因此进度提升至65%。", + "state_description": "当前爪夹已经压住黄色毛巾。\n为完成用黄色毛巾擦拭台面的任务应当：向爪夹的右前方移动，进行擦拭动作。", + "time": 5.827216494845361, + "annotations": { + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149166815_9zgpo3vyu", + "x": 0.0055, + "y": 0.25955555555555554, + "width": 0.5850000000000001, + "height": 0.727111111111111 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149173431_7ss3tglqg", + "x": 0.3085, + "y": 0.3111111111111111, + "width": 0.166, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，到达桌子右侧边缘处。", + "correction_plan": "再次向爪夹的后边移动并擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹向爪夹的右前方移动，进行擦拭动作。", + "frame": 96, + "progress": 70, + "progress_explanation": "当前爪夹已经移动至桌子右侧边缘处并擦拭桌面，因此进度提升至70%。", + "state_description": "当前爪夹在水平方向上位于桌子右侧边缘处。\n为完成用黄色毛巾擦拭台面的任务应当：再次向爪夹的后边移动并擦拭桌面。", + "time": 6.4, + "annotations": { + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149179967_d50r9hifk", + "x": 0.40549999999999997, + "y": 0.3022222222222222, + "width": 0.133, + "height": 0.12088888888888888 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149191767_qkf773wf6", + "x": 0.0045, + "y": 0.2773333333333333, + "width": 0.603, + "height": 0.7217777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后边移动至桌子左侧并擦拭桌面。", + "correction_plan": "爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹保持抵住毛巾的状态，并向爪夹的后边移动至桌子左侧。", + "frame": 234, + "progress": 80, + "progress_explanation": "当前爪夹向爪夹的后边移动，在水平方向上位于桌子左侧，因此进度提升至80%。", + "state_description": "当前爪夹在水平方向上位于桌子左侧边缘处。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的前方移动并擦拭桌面，爪夹抬起。", + "time": 7.800000000000001, + "annotations": { + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149198735_2z68ndovz", + "x": 0.0045, + "y": 0.27555555555555555, + "width": 0.5970000000000001, + "height": 0.7182222222222222 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149204223_7wqaig56o", + "x": 0.1395, + "y": 0.44977777777777783, + "width": 0.26599999999999996, + "height": 0.2382222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动，并向桌子右侧的方向靠近。", + "correction_plan": "爪夹移动至桌子右侧进行擦拭动作，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹保持抵住毛巾的状态，爪夹的左前方移动，并向桌子右侧的方向靠近。", + "frame": 250, + "progress": 85, + "progress_explanation": "当前爪夹保持抵住毛巾的状态，向桌子右侧的方向靠近，因此进度提升至85%。", + "state_description": "当前爪夹在水平方向上位于桌子中间。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹移动至桌子右侧进行擦拭动作。", + "time": 8.325360824742269, + "annotations": { + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149210287_2501zcner", + "x": 0.17550000000000002, + "y": 0.33066666666666666, + "width": 0.20800000000000002, + "height": 0.17955555555555555 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149217663_cazw0liwv", + "x": 0.0045, + "y": 0.2613333333333333, + "width": 0.583, + "height": 0.728888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动至桌子右侧进行擦拭动作。", + "correction_plan": "爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "爪夹向爪夹的前方移动，成功移动至桌子右侧。", + "frame": 264, + "progress": 90, + "progress_explanation": "当前爪夹在水平方向上位于桌子右侧，因此进度提升至90%。", + "state_description": "当前爪夹在水平方向上已经移动至桌子右侧。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "time": 8.807835051546393, + "annotations": { + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149234350_q9qqe8s8m", + "x": 0.3105, + "y": 0.31822222222222224, + "width": 0.135, + "height": 0.12977777777777777 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149241206_pxis7zj6r", + "x": 0.0035000000000000005, + "y": 0.25066666666666665, + "width": 0.583, + "height": 0.7431111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动，并抬起爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的上方成功抬起。", + "frame": 296, + "progress": 100, + "progress_explanation": "爪夹向爪夹的右侧移动，并抬起爪夹，因此进度提升至100%。", + "state_description": "当前爪夹抬起，已经完成用黄色毛巾擦拭台面的任务。", + "time": 9.869278350515463, + "annotations": { + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149248566_mp0ndwv42", + "x": 0.0055, + "y": 0.28800000000000003, + "width": 0.5920000000000001, + "height": 0.6986666666666667 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149251758_ahnj3boit", + "x": 0.4205, + "y": 0.256 + } + ] + }, + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149254294_5agnkddke", + "x": 0.4645, + "y": 0.32355555555555554 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149263262_i4qwq66du", + "x": 0.3465, + "y": 0.29333333333333333, + "width": 0.15600000000000006, + "height": 0.14577777777777778 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767148943370", + "name": "黄色毛巾", + "color": "#4CAF50" + }, + { + "id": "bbox_1767148943666", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767148944314", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767148944538", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json new file mode 100644 index 0000000000000000000000000000000000000000..16d1ef1a87547294a3ce3d1ce4e63d25eafb0a5f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json @@ -0,0 +1,318 @@ +{ + "task_description": "把胶棒从杯子里拿出来，放在桌子上。\n开始移动：0%\n爪夹靠近胶棒：20%\n爪夹抓取胶棒：40%\n爪夹抓住胶棒并接近黑色盒子前方的桌面：60%\n爪夹保持合拢并移动到黑色盒子前方的桌面的正上方：80%\n爪夹松开，使胶棒落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，因此进度为0%。", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒。", + "time": 1.3451546391752578, + "annotations": { + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151017122_8yuxgbczg", + "x": 0.17850000000000002, + "y": 0.4053333333333334, + "width": 0.78, + "height": 0.5848888888888889 + } + ] + } + } + }, + { + "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。\n", + "correction_plan": "向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时下降，在水平方向上接近胶棒。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近胶棒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，在水平距离上接近胶棒。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒。", + "time": 2.1418556701030926, + "annotations": { + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151021922_hn0vs9n3p", + "x": 0.9465, + "y": 0.8906666666666666 + } + ] + }, + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151029026_rvwfxncv7", + "x": 0.1715, + "y": 0.40177777777777784, + "width": 0.759, + "height": 0.592 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降，移动至胶棒的正上方。\n", + "correction_plan": "爪夹向爪夹的下方移动并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近胶棒，到达胶棒的正上方，准备抓取。\n", + "frame": 45, + "progress": 20, + "progress_explanation": "当前爪夹已成功移动至胶棒的正上方，因此进度为20%。\n", + "state_description": "当前爪夹张开，到达胶棒的正上方。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：爪夹向爪夹的下方移动并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方。", + "time": 3, + "annotations": { + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151035746_b06bw5knh", + "x": 0.17350000000000002, + "y": 0.39822222222222226, + "width": 0.747, + "height": 0.5902222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取胶棒。\n", + "correction_plan": "爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取胶棒。\n", + "frame": 120, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取胶棒，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到胶棒。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方。", + "time": 3.989278350515463, + "annotations": { + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151040706_b2dlh3wl0", + "x": 0.1875, + "y": 0.3928888888888889, + "width": 0.752, + "height": 0.6008888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹抓住胶棒向爪夹上方移动，并向爪夹方向的前方移动。\n", + "correction_plan": "爪夹向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹成功抓取胶棒，并在向着黑色盒子前方的桌面的方向靠近。\n", + "frame": 176, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住胶棒，并在水平方向上靠近黑色盒子前方的桌面，因此进度为60%。\n", + "state_description": "当前爪夹合拢，抓住胶棒，垂直于桌面。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动，到黑色盒子前方的桌面的正上方，下降爪夹，将胶棒放在桌子上。", + "time": 5.859793814432989, + "annotations": { + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151046106_ops55mci2", + "x": 0.9755, + "y": 0.8906666666666666 + } + ] + }, + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151051658_oed5signl", + "x": 0.17850000000000002, + "y": 0.3928888888888889, + "width": 0.76, + "height": 0.5937777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧胶棒向爪夹方向的前方移动。\n", + "correction_plan": "爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹已经抓取到胶棒，并移动到了桌面的正上方。\n", + "frame": 224, + "progress": 80, + "progress_explanation": "当前爪夹已抓住胶棒并移动至桌面的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住胶棒处于桌面的正上方。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：爪夹向爪夹的下方移动，将胶棒放在桌面上。", + "time": 7.4531958762886585, + "annotations": { + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151055570_n22f9c2wm", + "x": 0.7985, + "y": 0.656 + } + ] + }, + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151060082_rwc1tjws1", + "x": 0.1825, + "y": 0.3875555555555556, + "width": 0.753, + "height": 0.6026666666666667 + } + ] + }, + "bbox_1767149498075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498075_1767151064314_iwzmzzpdy", + "x": 0.7545, + "y": 0.6506666666666667, + "width": 0.06600000000000002, + "height": 0.08533333333333325 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，将胶棒放在桌面上。\n", + "correction_plan": "松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "成功将胶棒放在桌面上。\n", + "frame": 275, + "progress": 90, + "progress_explanation": "当前爪夹合拢，成功将胶棒放在桌面上，因此进度提升至90%。\n", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：松开爪夹，使胶棒落在桌子上。", + "time": 9.150515463917525, + "annotations": { + "bbox_1767149498075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498075_1767151074490_4i5x46gpu", + "x": 0.7315, + "y": 0.6968888888888889, + "width": 0.05699999999999994, + "height": 0.10133333333333339 + } + ] + }, + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151076890_5me6cg9o5", + "x": 0.7645000000000001, + "y": 0.7128888888888889 + } + ] + }, + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151082377_qzzqj6wxf", + "x": 0.1835, + "y": 0.39644444444444443, + "width": 0.748, + "height": 0.584888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹张开，胶棒落下。\n", + "correction_plan": "", + "error_success_analysis": "爪夹松开，胶棒落在桌子上。", + "frame": 317, + "progress": 100, + "progress_explanation": "胶棒成功落在桌子上，因此进度提升至100%\n", + "state_description": "当前爪夹张开，胶棒落在桌子上。已完成把胶棒从杯子里拿出来，放在桌子上的任务。\n", + "time": 10.582268041237112, + "annotations": { + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151087833_bfiuw5rub", + "x": 0.17650000000000002, + "y": 0.39644444444444443, + "width": 0.7699999999999999, + "height": 0.5920000000000001 + } + ] + }, + "bbox_1767149498075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498075_1767151092297_me4jtr88p", + "x": 0.7295, + "y": 0.7004444444444444, + "width": 0.052000000000000046, + "height": 0.10488888888888895 + } + ] + }, + "point_1767149499595": { + "type": "point", + "instances": [ + { + "id": "point_1767149499595_1767151094825_rwleumwbs", + "x": 0.8125, + "y": 0.7182222222222222 + } + ] + }, + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151096721_e48f5bfvb", + "x": 0.7535000000000001, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003388.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003388.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe5b06f5b98ef4807ed903836fd93f3df6f1d00 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003388.json @@ -0,0 +1,484 @@ +{ + "task_description": "打开箱子。\n开始移动：0%\n爪夹靠近箱子：20%\n爪夹到达盖子的下方：50%\n爪夹向爪夹的上方抬起盖子：70%\n盖子与箱子垂直，箱子完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右前方移动，靠近盖子，到达盖子的下方，爪夹向上抬起，将盖子掀起，盖子与箱子垂直，箱子完全打开。", + "error_success_analysis": "", + "frame": 14, + "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，没有接触盖子。\n为完成打开箱子的任务应当：爪夹向爪夹的右前方移动，靠近盖子，到达盖子的下方。", + "time": 0.4793814510309279, + "annotations": { + "point_1767164744218": { + "type": "point", + "instances": [ + { + "id": "point_1767164744218_1767164774458_nzmytbwl1", + "x": 0.36150000000000004, + "y": 0.44977777777777783 + } + ] + }, + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164776753_5t2henbku", + "x": 0.3435, + "y": 0.46755555555555556 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164780569_r7cdzjed0", + "x": 0.3965, + "y": 0.3466666666666667, + "width": 0.181, + "height": 0.12622222222222226 + } + ] + }, + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164788497_cbvcd8xnr", + "x": 0.3865, + "y": 0.34844444444444445, + "width": 0.18999999999999995, + "height": 0.3022222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降，靠近盖子。", + "correction_plan": "爪夹调整角度，并向爪夹的右侧移动，再次靠近盖子，爪夹向爪夹的右侧倾斜，并向下移动，使爪夹的一侧移动至盖子的下方，爪夹向上抬起，将盖子掀起，盖子与箱子垂直，箱子完全打开。", + "error_success_analysis": "爪夹向爪夹的右前方移动并下降，在水平方向上接近盖子。", + "frame": 25, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近盖子，因此进度提上至10%。", + "state_description": "当前爪夹在水平距离上位于箱子的斜上方。\n为完成打开箱子的任务应当：爪夹调整角度，并向爪夹的右侧移动，再次靠近盖子。", + "time": 1.6666666666666667, + "annotations": { + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164798601_6ohta6o8g", + "x": 0.3995, + "y": 0.3431111111111111, + "width": 0.18899999999999997, + "height": 0.29866666666666664 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164804025_g64oivox6", + "x": 0.39849999999999997, + "y": 0.3537777777777778, + "width": 0.185, + "height": 0.13511111111111113 + } + ] + }, + "point_1767164744218": { + "type": "point", + "instances": [ + { + "id": 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"progress": 50, + "progress_explanation": "当前爪夹的一侧成功移动到盖子下方，因此进度提升至50%。", + "state_description": "当前爪夹的一侧已经位于盖子的下方。\n为完成打开箱子的任务应当：爪夹向爪夹的上方抬起，将盖子掀起，使盖子与箱子垂直。", + "time": 6.338488074742268, + "annotations": { + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164860808_wuxkvbb58", + "x": 0.4415, + "y": 0.49244444444444446 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164865176_gsprez0a1", + "x": 0.4035, + "y": 0.34844444444444445, + "width": 0.188, + "height": 0.10488888888888895 + } + ] + }, + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164871408_2n4a5b4zn", + "x": 0.3995, + "y": 0.3431111111111111, + "width": 0.196, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起盖子。", + "correction_plan": "爪夹向爪夹的上方移动，并调整角度向爪夹的下方移动，使爪夹的一侧到达盖子的下方，再次向爪夹的上方抬起盖子，使盖子与箱子垂直，箱子完全打开。", + "error_success_analysis": "爪夹向爪夹的上方抬起盖子，盖子没有被完全抬起。", + "frame": 261, + "progress": 40, + "progress_explanation": "当前爪夹向爪夹的上方抬起盖子的过程中，盖子掉落，因此进度下降至40%。", + "state_description": "当前爪夹在水平方向上位于箱子侧边的上方。\n为完成打开箱子的任务应当：爪夹向爪夹的上方移动，并调整角度向爪夹的下方移动。", + "time": 8.703436566494847, + "annotations": { + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164878784_hc66ldi4p", + "x": 0.3975, + "y": 0.34844444444444445, + "width": 0.194, + "height": 0.2773333333333333 + } + ] + }, + "point_1767164744218": { + "type": "point", + "instances": [ + { + "id": "point_1767164744218_1767164881336_9n0cgvtpp", + "x": 0.4535, + "y": 0.29511111111111116 + } + ] + }, + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164883464_mvo2i3m0s", + "x": 0.4615, + "y": 0.4 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164889008_v95zxk0jk", + "x": 0.4035, + "y": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003950.json @@ -0,0 +1,356 @@ +{ + "task_description": "将橙色毛巾移动至桌子的左下方。\n开始移动：0%\n爪夹靠近毛巾：30%\n爪夹轻微合拢抓住毛巾：60%\n爪夹将毛巾移动至桌子的左下方：90%\n爪夹松开，并抬起：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方移动同时下降，靠近橙色毛巾，到达橙色毛巾的正上方，下降爪夹并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方，松开爪夹并向爪夹的上方抬起。", + "error_success_analysis": "", + "frame": 29, + "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，没有接触毛巾。\n为完成将橙色毛巾移动至桌子的左下方的任务应当：爪夹向爪夹的前方移动同时下降，靠近橙色毛巾，到达橙色毛巾的正上方。", + "time": 0.9664948453608249, + "annotations": { + "bbox_1767166602436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602436_1767166630908_r7mlvy3tk", + "x": 0.3585, + "y": 0.24711111111111114, + "width": 0.41900000000000004, + "height": 0.4782222222222222 + } + ] + }, + "bbox_1767166602052": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602052_1767166642852_n94gelzg8", + "x": 0.40650000000000003, + "y": 0.2524444444444444, + "width": 0.12299999999999996, + "height": 0.11555555555555554 + } + ] + }, + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166652012_dh90clukz", + "x": 0.4305, + "y": 0.08177777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降，靠近橙色毛巾。", + "correction_plan": "继续向爪夹的前方移动同时下降，到橙色毛巾的正上方，下降爪夹并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方，松开爪夹并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹方向的左方移动同时下降，水平方向上接近橙色毛巾。", + "frame": 53, + "progress": 25, + "progress_explanation": "当前爪夹在水平方向上接近橙色毛巾并垂直于桌面方便抓取，因此进度提升为25%。\n", + "state_description": "当前爪夹在水平方向上垂直于桌面。\n为完成将橙色毛巾移动至桌子的左下方的任务应当：继续向爪夹的前方移动同时下降，到橙色毛巾的正上方。", + "time": 1.7706185567010309, + "annotations": { + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166655084_qlurdnaif", + "x": 0.4795, + "y": 0.192 + } + ] + }, + "point_1767166603412": { + "type": "point", + "instances": [ + { + "id": "point_1767166603412_1767166657323_g65mo0idf", + "x": 0.41550000000000004, + "y": 0.15644444444444444 + } + ] + }, + "bbox_1767166602052": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602052_1767166661844_qt50uz817", + "x": 0.40750000000000003, + "y": 0.24355555555555558, + "width": 0.11699999999999999, + "height": 0.12799999999999995 + } + ] + }, + "bbox_1767166602436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602436_1767166667107_dzukmm2zn", + "x": 0.35950000000000004, + "y": 0.24711111111111114, + "width": 0.4210000000000001, + "height": 0.49599999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降，移动至橙色毛巾的正上方。", + "correction_plan": "爪夹向爪夹的下方移动并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方，松开爪夹并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时下降，水平方向上成功接近橙色毛巾，到达橙色毛巾的正上方，准备抓取。\n", + "frame": 76, + "progress": 50, + "progress_explanation": "当前爪夹已成功移动至橙色毛巾的正上方，因此进度为50%。\n", + "state_description": "当前爪夹张开，到达橙色毛巾的正上方。\n为完成将橙色毛巾移动至桌子的左下方的任务应当：爪夹向爪夹的下方移动并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方。", + "time": 2.5438144329896906, + "annotations": { + "bbox_1767166602436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602436_1767166672979_90u4mzzja", + "x": 0.3545, + "y": 0.22933333333333333, + "width": 0.42300000000000004, + "height": 0.5155555555555557 + } + ] + }, + "point_1767166603412": { + "type": "point", + "instances": [ + { + "id": "point_1767166603412_1767166676043_tli7niczi", + "x": 0.43950000000000006, + "y": 0.2328888888888889 + } + ] + }, + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166678411_3rtr8xpch", + "x": 0.48550000000000004, + "y": 0.25422222222222224 + } + ] + }, + "bbox_1767166602052": { + "type": "bbox", + "instances": [ + { + 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{ + "bbox_1767166602052": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602052_1767166716619_y5fy8s4k2", + "x": 0.3935, + "y": 0.29333333333333333, + "width": 0.135, + "height": 0.16711111111111107 + } + ] + }, + "point_1767166603412": { + "type": "point", + "instances": [ + { + "id": "point_1767166603412_1767166719467_03s3bsrz7", + "x": 0.43150000000000005, + "y": 0.34844444444444445 + } + ] + }, + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166721731_frymwp06g", + "x": 0.4795, + "y": 0.3608888888888889 + } + ] + }, + "bbox_1767166602436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602436_1767166725659_4ju4qxuct", + "x": 0.35150000000000003, + "y": 0.24533333333333335, + "width": 0.434, + "height": 0.48711111111111116 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767166602052", + "name": "橙色毛巾", + "color": "#4CAF50" + }, + { + "id": "bbox_1767166602436", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767166603412", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767166603692", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003336.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003336.json new file mode 100644 index 0000000000000000000000000000000000000000..42bdf58eea93f1b9e254242a09220c22b32890c5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003336.json @@ -0,0 +1,390 @@ +{ + "task_description": "拿起黄色积木，把它放在蓝色杯子里。\n开始移动：0%\n爪夹靠近黄色积木：20%\n爪夹抓取黄色积木：40%\n爪夹抓住黄色积木并接近蓝色杯子：60%\n爪夹保持合拢并移动到蓝色杯子上方：80%\n爪夹松开，使黄色积木落入蓝色杯子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方移动同时下降，使爪夹垂直于桌面，爪夹再次向爪夹的左边移动同时下降，移动至黄色积木的正上方，爪夹向爪夹的下方移动，并合拢抓取黄色积木，爪夹向爪夹的上方抬升，并向爪夹的右边移动，靠近蓝色杯子，移动至蓝色杯子的正上方，松开爪夹，使黄色积木落入蓝色杯子里。", + "error_success_analysis": "", + "frame": 19, + "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为完成拿起黄色积木，把它放在蓝色杯子里的任务应当：爪夹向爪夹的前方移动同时下降，使爪夹垂直于桌面，爪夹再次向爪夹的左边移动同时下降，移动至黄色积木的正上方。", + "time": 0.6174226530927834, + "annotations": { + "point_1767168285897": { + "type": "point", + "instances": [ + { + "id": "point_1767168285897_1767168307920_zx2219fo9", + "x": 0.6655, + "y": 0.3128888888888889 + } + ] + }, + "point_1767168286097": { + "type": "point", + "instances": [ + { + "id": "point_1767168286097_1767168310088_x9pyzeyxb", + "x": 0.7145, + "y": 0.2826666666666667 + } + ] + }, + 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003479.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003479.json new file mode 100644 index 0000000000000000000000000000000000000000..8e34def9738a9ab10b2a5aa935d210585f9e7b68 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003479.json @@ -0,0 +1,614 @@ +{ + "task_description": "从透明碗里拿出一个马克笔，放在桌子上。\n开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取一个马克笔：40%\n爪夹抓住马克笔并接近透明碗的左侧：60%\n爪夹保持合拢并移动到透明碗的左侧桌面的上方：80%\n爪夹松开，使马克笔落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767170793683": { + "instances": [ + { + "height": 0.12088888888888892, + "id": 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+ "color": "#4CAF50", + "id": "bbox_1767174011974", + "name": "盖子" + }, + { + "color": "#FF9800", + "id": "bbox_1767174012278", + "name": "罐子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767174012862", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767174013046", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json new file mode 100644 index 0000000000000000000000000000000000000000..4a41a9c59d8ab50b502bf1c5d0f1a3ff912bbf87 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json @@ -0,0 +1,317 @@ +{ + "task_description": "打开垃圾桶。\n开始移动：0%\n爪夹靠近垃圾桶：30%\n爪夹下降至垃圾桶按钮的正上方：60%\n爪夹下降，将垃圾桶的按钮打开：80%\n爪夹抬起，垃圾桶打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的下方移动，并调整角度，靠近垃圾桶，移动至垃圾桶的正上方，下降爪夹至垃圾桶按钮的正上方，向爪夹的下方移动，按向按钮，抬起爪夹，垃圾桶打开。", + "error_success_analysis": "", + "frame": 31, + "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，没有接触垃圾桶。\n为完成打开垃圾桶的任务应当：向爪夹的下方移动，并调整角度，靠近垃圾桶，移动至垃圾桶的正上方。", + "time": 1.0355670355670104, + "annotations": { + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767492981453_pr1i063ws", + "x": 0.4325, + "y": 0.6133333333333334, + "width": 0.14799999999999996, + "height": 0.3306666666666667 + } + ] + }, + "point_1767492948149": { + "type": "point", + "instances": [ + { + "id": "point_1767492948149_1767492984165_bxvrcwtdh", + "x": 0.4245, + "y": 0.3644444444444444 + } + ] + }, + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767492986709_8whwnhsjy", + "x": 0.44750000000000006, + "y": 0.4053333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，并调整爪夹角度。", + "correction_plan": "爪夹合拢，向爪夹的下方移动，靠近垃圾桶的按钮，向爪夹下方移动，到达垃圾桶按钮的正上方，向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，水平方向上成功接近垃圾桶。", + "frame": 66, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近垃圾桶并调整完爪夹角度，因此进度提升为15%。", + "state_description": "当前爪夹保持张开，水平距离上接近垃圾桶。\n为完成打开垃圾桶的任务应当：爪夹合拢，向爪夹的下方移动，靠近垃圾桶的按钮，向爪夹下方移动，到达垃圾桶按钮的正上方，并将按钮打开。", + "time": 2.2049828716494844, + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767492990645_fvl8bw32c", + "x": 0.47250000000000003, + "y": 0.5262222222222223 + } + ] + }, + "point_1767492948149": { + "type": "point", + "instances": [ + { + "id": "point_1767492948149_1767492992989_dt1i6boxj", + "x": 0.4485, + "y": 0.4942222222222223 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767492996909_aoxjjfho0", + "x": 0.4335, + "y": 0.6097777777777778, + "width": 0.14699999999999996, + "height": 0.34844444444444433 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的下方移动，并合拢爪夹。", + "correction_plan": "向爪夹的下方移动，靠近垃圾桶的按钮，到达垃圾桶按钮的正上方，向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "error_success_analysis": "爪夹继续向爪夹的下方移动，并合拢，与垃圾桶的水平距离进一步缩短。", + "frame": 104, + "progress": 30, + "progress_explanation": "当前爪夹合拢，与垃圾桶的水平距离进一步缩短，因此进度提升至30%。", + "state_description": "当前爪夹合拢，在水平方向上进一步接近垃圾桶。\n为完成打开垃圾桶的任务应当：向爪夹的下方移动，靠近垃圾桶的按钮，到达垃圾桶按钮的正上方。", + "time": 3.4730241396907213, + "annotations": { + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493001845_s932a61fl", + "x": 0.4295, + "y": 0.615111111111111, + "width": 0.154, + "height": 0.34488888888888897 + } + ] + }, + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493004173_ssv32hq16", + "x": 0.42750000000000005, + "y": 0.5991111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，继续向爪夹的下方移动靠近垃圾桶的按钮。", + "correction_plan": "向爪夹的下方移动，靠近垃圾桶的按钮，到达垃圾桶按钮的正上方，向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "error_success_analysis": "向爪夹的下方移动并调整角度靠近垃圾桶。", + "frame": 195, + "progress": 45, + "progress_explanation": "当前爪夹在水平方向上再次靠近垃圾桶，因此进度提升至45%。", + "state_description": "当前爪夹合拢，在水平方向上再次靠近垃圾桶。\n为完成打开垃圾桶的任务应当：向爪夹的下方移动，靠近垃圾桶的按钮，到达垃圾桶按钮的正上方", + "time": 6.4881444881443295, + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493006813_ycoao58in", + "x": 0.4265, + "y": 0.664888888888889 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493010413_suf3h8m3l", + "x": 0.4285, + "y": 0.6186666666666667, + "width": 0.158, + "height": 0.3377777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动靠近垃圾桶按钮的正上方。", + "correction_plan": "向爪夹的前方移动到达垃圾桶按钮的正上方，向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "error_success_analysis": "爪夹向爪夹的前方移动靠近垃圾桶。", + "frame": 290, + "progress": 55, + "progress_explanation": "当前爪夹在水平方向上位于垃圾桶按钮的斜上方，因此进度提升至55%。", + "state_description": "当前爪夹保持合拢，位于垃圾桶按钮的斜上方。\n为完成打开垃圾桶的任务应当：向爪夹的前方移动到达垃圾桶按钮的正上方，向爪夹的下方移动将按钮打开。", + "time": 9.672337005670103, + "annotations": { + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493014797_stjqt0ils", + "x": 0.4325, + "y": 0.6133333333333334, + "width": 0.15, + "height": 0.3626666666666667 + } + ] + }, + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493016909_cuujtvadx", + "x": 0.4365, + "y": 0.6808888888888889 + } + ] + } + } + }, + { + "time": 10.755666, + "frame": 323, + "progress": 70, + "action_description": "当前爪夹向爪夹的前方移动，到达垃圾桶按钮的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于垃圾桶按钮的正上方。\n为完成打开垃圾桶的任务应当：向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "progress_explanation": "当前爪夹已经成功移动至垃圾桶按钮的正上方，因此进度提升至70%。", + "error_success_analysis": "爪夹向爪夹的前方移动，在水平方向上成功接近垃圾桶，到达垃圾桶按钮的正上方。", + "correction_plan": "向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493020405_77v26e4i2", + "x": 0.44350000000000006, + "y": 0.6737777777777778 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493024414_mnv1xcvyi", + "x": 0.4285, + "y": 0.6062222222222222, + "width": 0.158, + "height": 0.37155555555555553 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹下方移动，按向按钮，将按钮打开。", + "correction_plan": "抬起爪夹，垃圾桶打开。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功将按钮打开。", + "frame": 333, + "progress": 80, + "progress_explanation": "当前爪夹向爪夹下方移动，按向按钮，将按钮打开，因此进度提升至80%。", + "state_description": "当前爪夹合拢，成功位于按钮的正上方。\n为完成打开垃圾桶的任务应当：抬起爪夹，垃圾桶打开。", + "time": 11.095361095360827, + "annotations": { + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493028990_9f5r4eo5u", + "x": 0.4345, + "y": 0.615111111111111, + "width": 0.15, + "height": 0.3608888888888889 + } + ] + }, + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493032646_k14vsfyza", + "x": 0.4455, + "y": 0.6791111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动，垃圾桶打开。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的上方移动，成功打开垃圾桶。", + "frame": 352, + "progress": 100, + "progress_explanation": "当前垃圾桶已经打开，因此进度提升至100%。", + "state_description": "当前垃圾桶打开，已经完成打开垃圾桶的任务。", + "time": 11.729381729381442, + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493040406_6s46s55pw", + "x": 0.4385, + "y": 0.6524444444444444 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493046734_zimtz55pn", + "x": 0.4285, + "y": 0.5742222222222222, + "width": 0.15499999999999997, + "height": 0.4088888888888889 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767492947381", + "name": "垃圾桶", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767492948149", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767492948389", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003775.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003775.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8ba88233ec0755c33a240f37e64b4bd689fb8a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003775.json @@ -0,0 +1,481 @@ +{ + "task_description": "把笔从杯子里拿出来。\n开始移动：0%\n靠近杯子：20%\n爪夹抓取笔：40%\n爪夹抓住笔并接近杯子下方桌面：60%\n爪夹保持合拢并移动到杯子下方桌面的正上方：80%\n爪夹松开，使笔落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "向爪夹的右前方移动，调整爪夹角度并靠近杯子，继续向爪夹方向的右前方移动，到达杯子正上方，向爪夹前方移动，并合拢爪夹抓取笔，抬起爪夹，向爪夹的右后方移动，到达杯子的右下方桌面的正上方，松开爪夹，使笔落在桌面上。", + "error_success_analysis": "", + "frame": 8, + "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，没有接触笔。\n为完成把笔从杯子里拿出来的任务应当：向爪夹的右前方移动，调整爪夹角度并靠近杯子。", + "time": 0.2659106654639175, + "annotations": { + "bbox_1767494334064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767494334064_1767494367040_wfor2p3a2", + "x": 0.4405, + "y": 0.5582222222222223, + "width": 0.046, + "height": 0.1013333333333333 + } + ] + }, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003065.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003065.json new file mode 100644 index 0000000000000000000000000000000000000000..aa70a9bd5a683301af1e53fac896e43b52147551 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003065.json @@ -0,0 +1,587 @@ +{ + "task_description": "把白色杯子里的记号笔拿出来，放到桌子上。\n开始移动：0%\n爪夹靠近白色杯子：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔并接近白色杯子右侧桌面：60%\n爪夹保持合拢并移动到白色杯子右侧桌面的上方：80%\n爪夹松开，使记号笔落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": 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"爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的后上方旋转爪夹，并向爪夹的前方靠近，到达门把手的正前方，爪夹向爪夹的前方移动，并合拢爪夹抓住门把手，爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": "", + "frame": 14, + "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，没右接触柜门。\n为完成打开左边的柜门的任务应当：爪夹向爪夹的后上方旋转爪夹，并向爪夹的前方靠近，到达门把手的正前方。", + "time": 0.46487970979381443, + "annotations": { + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499538529_2ixcaq6e2", + "x": 0.45549999999999996, + "y": 0.6222222222222222 + } + ] + }, + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499540577_9ia7i6s6g", + "x": 0.7595, + "y": 0.6168888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后上方旋转爪夹，并调整角度。", + "correction_plan": "调整爪夹角度，并向爪夹的前方靠近，移动至门把手的正前方，爪夹向爪夹的前方移动，并合拢爪夹抓住门把手，爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": 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"当前爪夹张开，到达柜门的正前方。\n为完成打开左边的柜门的任务应当：爪夹向爪夹的前方移动，并合拢爪夹抓住门把手。", + "time": 3.306391643814433, + "annotations": { + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499547793_wnyywqmts", + "x": 0.45149999999999996, + "y": 0.624 + } + ] + }, + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499550217_fo7f5p1kl", + "x": 0.7575000000000001, + "y": 0.6275555555555556 + } + ] + }, + "bbox_1767499517369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767499517369_1767499556305_zohvhb1bc", + "x": 0.5055, + "y": 0.2737777777777778, + "width": 0.493, + "height": 0.7111111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动，合拢爪夹并抓取柜门的门把手。", + "correction_plan": "爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": "爪夹向爪夹的前方移动，成功抓住柜门的门把手。", + "frame": 65, + "progress": 60, + "progress_explanation": "当前爪夹已经抓住柜门的门把手，因此进度提升至60%。", + "state_description": "当前爪夹合拢，爪夹已经抓取到柜门的门把手。\n为完成打开左边的柜门的任务应当：爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "time": 4.333333333333333, + "annotations": { + "bbox_1767499517369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767499517369_1767499561777_08bww4zwe", + "x": 0.5275000000000001, + "y": 0.18133333333333335, + "width": 0.4720000000000001, + "height": 0.8124444444444445 + } + ] + }, + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499564465_ub5h79zjw", + "x": 0.5575, + "y": 0.512 + } + ] + }, + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499566129_eyu56iggy", + "x": 0.6495, + "y": 0.5084444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方移动，将柜门向爪夹的后方拉开。", + "correction_plan": "继续向爪夹后方移动，并松开爪夹，使柜门完全打开。", + "error_success_analysis": "爪夹保持合拢，抓住门把手向爪夹后方移动，使柜门微微打开。", + "frame": 173, + "progress": 80, + "progress_explanation": "当前柜门略微打开，因此进度提升至80%。", + "state_description": "当前柜门微微打开。\n为完成打开左边的柜门的任务应当：继续向爪夹后方移动，并松开爪夹，使柜门完全打开。", + "time": 5.771821115979382, + "annotations": { + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499568681_7ar8l8c61", + "x": 0.6515000000000001, + "y": 0.520888888888889 + } + ] + }, + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499570585_nevy2lv0s", + "x": 0.5605, + "y": 0.512 + } + ] + }, + "bbox_1767499517369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767499517369_1767499575705_5i657lxao", + "x": 0.48250000000000004, + "y": 0.176, + "width": 0.513, + "height": 0.8124444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹松开，柜门完全打开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，柜门打开。", + "frame": 115, + "progress": 100, + "progress_explanation": "当前柜门已经打开，因此进度提升至100%。", + "state_description": "当前柜门完全打开，已经完成打开左边的柜门的任务。", + "time": 7.666666666666667, + "annotations": { + "bbox_1767499517369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767499517369_1767499582393_hrka2f08t", + "x": 0.1615, + "y": 0.1831111111111111, + "width": 0.332, + "height": 0.8142222222222222 + } + ] + }, + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499590601_fy968hqiu", + "x": 0.44750000000000006, + "y": 0.5973333333333333 + } + ] + }, + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499592249_zkmmbkd5o", + "x": 0.7655000000000001, + "y": 0.6257777777777778 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767499517369", + "name": "柜门", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767499521057", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767499521273", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003554.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003554.json new file mode 100644 index 0000000000000000000000000000000000000000..1e754b482d40dabddceaf4a7b1c04e943ff1cc15 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003554.json @@ -0,0 +1,221 @@ +{ + "task_description": "关上上面的抽屉。\n准备移动：0%\n爪夹开始移动：20%\n爪夹调整角度靠近抽屉：50%\n爪夹合拢并移动到抽屉的正前方：80%\n爪夹向前移动，使抽屉关上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的后方旋转爪夹角度，使爪夹位于抽屉门的正前方，爪夹向爪夹的前方移动，使抽屉关上。", + "error_success_analysis": "", + "frame": 56, + "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，没有接触抽屉。\n为完成关上上面的抽屉的任务应当：爪夹向爪夹的后方旋转爪夹角度，使爪夹位于抽屉门的正前方。", + "time": 1.8564603768041237, + "annotations": { + "point_1767509062128": { + "type": "point", + "instances": [ + { + "id": "point_1767509062128_1767509083672_ks7jwijwx", + "x": 0.46950000000000003, + "y": 0.6204444444444445 + } + ] + }, + "point_1767509062304": { + "type": "point", + "instances": [ + { + "id": "point_1767509062304_1767509085729_9bovq3bmg", + "x": 0.7765000000000001, + "y": 0.6222222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方旋转爪夹角度，并靠近抽屉。", + "correction_plan": "继续向爪夹的后方旋转爪夹角度，使爪夹位于抽屉门的正前方，爪夹向爪夹的前方移动，使抽屉关上。", + "error_success_analysis": "爪夹向爪夹方向的后方旋转爪夹角度，在水平方向上接近抽屉。\n", + "frame": 42, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上接近抽屉并开始调整爪夹角度方便抓取，因此进度提升至20%。\n", + "state_description": "当前爪夹张开，在水平方向上接近抽屉。\n为完成关上上面的抽屉的任务应当：继续向爪夹的后方旋转爪夹角度，使爪夹位于抽屉门的正前方。", + "time": 2.8, + "annotations": { + "point_1767509062304": { + "type": "point", + "instances": [ + { + "id": "point_1767509062304_1767509088608_l5ao2bsi3", + "x": 0.7735000000000001, + "y": 0.6257777777777778 + } + ] + }, + "point_1767509062128": { + "type": "point", + "instances": [ + { + "id": "point_1767509062128_1767509091000_vanb9ec6p", + "x": 0.46950000000000003, + "y": 0.6346666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整完角度，并合拢爪夹位于抽屉的正前方。", + "correction_plan": "爪夹向爪夹的前方移动，使抽屉关上。", + "error_success_analysis": "爪夹调整完角度，合拢爪夹并在水平方向上位于抽屉的正前方。", + "frame": 113, + "progress": 50, + "progress_explanation": "当前爪夹已经处于抽屉的正前方，因此进度提升至50%。", + "state_description": "当前爪夹合拢，在水平方向上位于抽屉的正前方。\n为完成关上上面的抽屉的任务应当：爪夹向爪夹的前方移动，使抽屉关上。", + "time": 3.783264392268041, + "annotations": { + "point_1767509062128": { + "type": "point", + "instances": [ + { + "id": "point_1767509062128_1767509094096_gp50cmq8g", + "x": 0.5955, + "y": 0.5173333333333333 + } + ] + }, + "point_1767509062304": { + "type": "point", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..d0dc791279f41a7759eec93129621d5ac3b3b722 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004480.json @@ -0,0 +1,408 @@ +{ + "task_description": "从桌子上拿起绿色方块，把它放在碗里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近绿色方块：30%\n爪夹抓住绿色方块：50%\n爪夹合拢并靠近碗：70%\n爪夹保持合拢并移动至碗的正上方：90%\n爪夹松开，绿色方块落在碗里：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的右前方移动，并调整爪夹角度靠近绿色方块，爪夹继续向爪夹的右前方移动，到达绿色方块的正上方，爪夹向爪夹的下方移动，合拢爪夹并抓取绿色方块，爪夹向爪夹的上方抬起，并向爪夹的后方移动，到达碗的正上方，松开爪夹，使绿色方块落入碗中。", + "error_success_analysis": "", + "frame": 14, + "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": "当前状态为爪夹没有移动，没有出现在画面。\n为完成从桌子上拿起绿色方块，把它放在碗里的任务应当：爪夹向爪夹的右前方移动，并调整爪夹角度靠近绿色方块，爪夹继续向爪夹的右前方移动，到达绿色方块的正上方。", + "time": 0.46305838917525777, + "annotations": { + "bbox_1767513820768": { + "type": "bbox", + "instances": [ + { 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"爪夹向爪夹方向的右前方移动，水平方向上成功接近绿色方块，并使爪夹角度向垂直于桌面，方便抓取。", + "frame": 23, + "progress": 20, + "progress_explanation": "当前爪夹张开，在水平方向上进一步接近绿色方块，因此进度提升至20%。", + "state_description": "当前爪夹张开，垂直于桌面。\n为完成从桌子上拿起绿色方块，把它放在碗里的任务应当：爪夹继续向爪夹的右前方移动，到达绿色方块的正上方，爪夹向爪夹的下方移动，合拢爪夹并抓取绿色方块。", + "time": 1.5333333333333334, + "annotations": { + "point_1767513821848": { + "type": "point", + "instances": [ + { + "id": "point_1767513821848_1767514001055_r79lkaa97", + "x": 0.7975000000000001, + "y": 0.5351111111111112 + } + ] + }, + "point_1767513821665": { + "type": "point", + "instances": [ + { + "id": "point_1767513821665_1767514003895_i05cbxy99", + "x": 0.7295, + "y": 0.5102222222222222 + } + ] + }, + "bbox_1767513821000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513821000_1767514018703_0nwt7fp21", + "x": 0.7464999999999999, + "y": 0.6097777777777778, + "width": 0.03500000000000005, + "height": 0.05155555555555556 + } + ] + }, + "bbox_1767513820768": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004033.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004033.json new file mode 100644 index 0000000000000000000000000000000000000000..598b1420e9c1829e05421c24481a7a4088d8bdc0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004033.json @@ -0,0 +1,648 @@ +{ + "task_description": "把瓶子从塑料袋里拿出来，放在台面上。\n准备移动：0%\n爪夹靠近塑料袋：20%\n爪夹抓取瓶子：40%\n爪夹抓住瓶子并靠近台面：60%\n爪夹保持合拢移动至台面的正上方：80%\n爪夹松开，使瓶子落在台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的左下方移动，到达塑料袋的右上方，爪夹向爪夹的下方移动，同时向爪夹的下方旋转爪夹角度，使爪夹和瓶子处于同一水平，爪夹向爪夹的左侧移动，并合拢爪夹抓取瓶子，爪夹向爪夹的右上方移动，将瓶子从塑料袋里拿出来，并向爪夹的右上方旋转爪夹角度，使爪夹垂直于台面，爪夹向爪夹的下方移动，将瓶子放在台面上，松开爪夹，使瓶子落在台面上。", + "error_success_analysis": "", + "frame": 19, + "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": "当前爪夹张开，没有移动，没有接触瓶子。\n为完成把瓶子从塑料袋里拿出来，放在台面上的任务应当：爪夹向爪夹的左下方移动，到达塑料袋的右上方，爪夹向爪夹的下方移动，同时向爪夹的下方旋转爪夹角度，使爪夹和瓶子处于同一水平。", + "time": 0.6481099726804124, + "annotations": { + "point_1767520379153": { + "type": "point", + "instances": [ + { + "id": "point_1767520379153_1767520403041_48x8zqcg6", + "x": 0.5745, + "y": 0.5173333333333333 + } + ] + }, + "point_1767520379337": { + "type": "point", + "instances": [ + { + "id": "point_1767520379337_1767520405177_xoy01i17c", + "x": 0.6775, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767520380649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520380649_1767520409489_wyvtiunxy", + "x": 0.3565, + "y": 0.6613333333333333, + "width": 0.086, 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"progress_explanation": "当前爪夹和瓶子处于同一水平，因此进度提升至20%。", + "state_description": "当前爪夹张开，与瓶子处于同一水平。\n为完成把瓶子从塑料袋里拿出来，放在台面上的任务应当：爪夹向爪夹的左侧移动，并合拢爪夹抓取瓶子，爪夹向爪夹的右上方移动，将瓶子从塑料袋里拿出来。", + "time": 5.801374633505154, + "annotations": { + "bbox_1767520381674": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520381674_1767520432977_5fjeq8flr", + "x": 0.3715, + "y": 0.520888888888889, + "width": 0.4370000000000001, + "height": 0.4711111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动，并合拢爪夹抓取瓶子。", + "correction_plan": "爪夹向爪夹的右上方移动，将瓶子从塑料袋里拿出来，并向爪夹的右上方旋转爪夹角度，使爪夹垂直于台面，爪夹向爪夹的下方移动，将瓶子放在台面上，松开爪夹，使瓶子落在台面上。", + "error_success_analysis": "爪夹向爪夹的左边移动，成功抓取瓶子。", + "frame": 126, + "progress": 30, + "progress_explanation": "当前爪夹已经合拢抓住瓶子，因此进度提升至30%。", + "state_description": "当前爪夹合拢，位于塑料袋中。\n为完成把瓶子从塑料袋里拿出来，放在台面上的任务应当：爪夹向爪夹的右上方移动，将瓶子从塑料袋里拿出来，并向爪夹的右上方旋转爪夹角度，使爪夹垂直于台面。", + "time": 8.4, + "annotations": { + "bbox_1767520381674": { + "type": "bbox", + "instances": [ + { + "id": 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"point_1767520379337_1767520523120_8zs2w7854", + "x": 0.5515, + "y": 0.6062222222222222 + } + ] + }, + "bbox_1767520380649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520380649_1767520526608_h0a8l4or1", + "x": 0.5085, + "y": 0.5742222222222222, + "width": 0.04900000000000002, + "height": 0.18311111111111109 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，将瓶子放在台面上。", + "correction_plan": "松开爪夹，使瓶子落在台面上。", + "error_success_analysis": "成功将瓶子放在台面上。\n", + "frame": 399, + "progress": 90, + "progress_explanation": "当前爪夹保持合拢，成功将瓶子放在台面上，因此进度提升至90%。\n", + "state_description": "当前爪夹保持合拢，与台面保持平行。\n为完成把瓶子从塑料袋里拿出来，放在台面上的任务应当：松开爪夹，使瓶子落在台面上。", + "time": 26.6, + "annotations": { + "bbox_1767520380649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520380649_1767520530552_vq8brfp5f", + "x": 0.5145000000000001, + "y": 0.5884444444444444, + "width": 0.05699999999999994, + "height": 0.1795555555555556 + } + ] + }, + "bbox_1767520381674": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520381674_1767520533744_gs30zqpcp", + "x": 0.2975, + "y": 0.5137777777777778, + "width": 0.508, + "height": 0.4693333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹松开，瓶子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，瓶子成功落在台面上。", + "frame": 823, + "progress": 100, + "progress_explanation": "当前瓶子成功落在台面上，因此进度提升至100%。", + "state_description": "当前瓶子已经落在台面上，已经完成把瓶子从塑料袋里拿出来，放在台面上的任务。", + "time": 27.42611713659794, + "annotations": { + "bbox_1767520381674": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520381674_1767520537960_jtxadw0zi", + "x": 0.3075, + "y": 0.48711111111111116, + "width": 0.506, + "height": 0.5013333333333334 + } + ] + }, + "bbox_1767520380649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520380649_1767520541360_4wcxcw8hf", + "x": 0.49750000000000005, + "y": 0.6897777777777777, + "width": 0.092, + "height": 0.07288888888888892 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767520380649", + "name": "瓶子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767520381674", + "name": "台面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767520379153", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767520379337", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004182.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004182.json new file mode 100644 index 0000000000000000000000000000000000000000..8252bf2af9f8db8df421ddb306641963ada5a449 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004182.json @@ -0,0 +1,474 @@ +{ + "task_description": "把碗向后移动。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近碗：20%\n爪夹抓取碗：40%\n爪夹抓住碗靠近后方：60%\n爪夹保持合拢，移动到碗后方桌面的正上方：80%\n松开爪夹，使碗落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方移动并调整角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "", + "frame": 18, + "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，没有接触碗。\n为完成把碗向后移动的任务应当：爪夹向前调整角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达碗的正上方。", + "time": 0.6072164948453608, + "annotations": { + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579595338_4hoggtx4v", + "x": 0.49750000000000005, + "y": 0.5955555555555556, + "width": 0.06499999999999995, + "height": 0.10488888888888886 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579736641_pa0dk8nsr", + "x": 0.5905, + "y": 0.4053333333333334 + } + ] + }, + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579743129_plgdqjqa7", + "x": 0.1045, + "y": 0.44622222222222224, + "width": 0.558, + "height": 0.5457777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动并调整角度，使爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹的下方移动，到达碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近碗，并使爪夹角度向垂直于桌面调整，方便抓取。\n", + "frame": 36, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近碗并开始调整爪夹角度方便抓取，因此进度提升为10%。\n", + "state_description": "当前爪夹张开，在水平方向上垂直于桌面。\n为完成把碗向后移动的任务应当：爪夹向爪夹的下方移动，到达碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗。", + "time": 1.1870103092783504, + "annotations": { + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579762337_zmeobqd19", + "x": 0.1315, + "y": 0.4426666666666667, + "width": 0.5349999999999999, + "height": 0.5439999999999999 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579767049_v606zgnou", + "x": 0.49850000000000005, + "y": 0.6026666666666667, + "width": 0.06499999999999995, + "height": 0.09777777777777774 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579771625_psvia51p4", + "x": 0.5385, + "y": 0.43733333333333335 + } + ] + }, + "point_1767576684587": { + "type": "point", + "instances": [ + { + "id": "point_1767576684587_1767579774169_qngtukfta", + "x": 0.5465, + "y": 0.4053333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动，保持张开。", + "correction_plan": "继续向爪夹方向的下方移动，直至碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功接近碗。", + "frame": 32, + "progress": 20, + "progress_explanation": "当前爪夹与碗的水平距离进一步缩短，因此进度提升至20%。", + "state_description": "当前爪夹保持张开，在水平方向上进一步接近碗。\n为完成把碗向后移动的任务应当：继续向爪夹方向的下方移动，直至碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗。", + "time": 2.1333333333333333, + "annotations": { + "point_1767576684587": { + "type": "point", + "instances": [ + { + "id": "point_1767576684587_1767579777825_cmlm60wg7", + "x": 0.5155000000000001, + "y": 0.4888888888888889 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579780736_sn431mn4e", + "x": 0.4995, + "y": 0.5084444444444445 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579785065_zzcdq5unq", + "x": 0.49450000000000005, + "y": 0.5955555555555556, + "width": 0.06799999999999998, + "height": 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"拿起马克笔，把它放在蓝色的碗里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓住马克笔靠近蓝色碗：60%\n爪夹保持合拢，移动到蓝色碗的正上方：80%\n松开爪夹，使马克笔落在蓝色的碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右前方移动，并调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的右前方移动，同时下降，移动至马克笔的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取马克笔，爪夹抓住马克笔并向爪夹的上方抬升，爪夹向爪夹的左后方移动至蓝色碗的正上方，松开爪夹，使马克笔落入蓝色的碗里。", + "error_success_analysis": "", + "frame": 23, + "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，没有接触马克笔。\n为完成拿起马克笔，把它放在蓝色的碗里的任务应当：爪夹向爪夹的右前方移动，并调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的右前方移动，同时下降，移动至马克笔的正上方。", + "time": 0.76659793814433, + "annotations": { + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581840684_4io87l69b", + "x": 0.4285, + "y": 0.48355555555555557, + "width": 0.11299999999999999, + "height": 0.1671111111111111 + } + ] + }, + "bbox_1767580167574": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹已经抓取到柠檬玩具，并向爪夹方向的右侧移动到了水槽的正上方。", + "frame": 236, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右侧移动至水槽正上方。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于水槽正上方。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：下降将柠檬玩具放入水槽中，松开爪夹。", + "time": 7.875982152234884, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002517430_yvvd8ebh4", + "x": 0.5161110524834562, + "y": 0.6426913519965277, + "width": 0.18299998883056706, + "height": 0.2737777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹成功向爪夹方向的下方移动至水槽中，成功将柠檬玩具放入水槽中。", + "frame": 282, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的下方移动，将柠檬玩具放入水槽中。因此进度提升至80%", + "state_description": "当前爪夹合拢，垂直于水槽中。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：松开爪夹，使柠檬玩具落入水槽中。", + "time": 9.412201943200436, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006138.json @@ -0,0 +1,402 @@ +{ + "task_description": "把绿色毛巾移到桌子左上方：\n爪夹开始移动：0%\n爪夹靠近绿色毛巾：30%\n爪夹抵住绿色毛巾：60%\n爪夹抵住绿色毛巾靠近桌子左上方：80%\n爪夹抵住绿色毛巾移动到桌子左上方：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。向爪夹方向的前方移动并下降，到达绿色毛巾正上方后下降抵住绿色毛巾，向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "error_success_analysis": "", + "frame": 18, + "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。\n为完成把绿色毛巾移到桌子左上方的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的前方移动并下降。", + "time": 0.5848184010511637, + "annotations": { + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058301841_ccs23kxlf", + "x": 0.2561110683525959, + "y": 0.20199998643663197, + "width": 0.5689999652709983, + "height": 0.663111111111111 + } + ] + }, + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058320244_sq586mtd7", + "x": 0.3961110598076746, + "y": 0.41118518066406246, + "width": 0.1929999882202155, + "height": 0.25066666666666676 + } + ] + }, + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058340070_5y8bhil7m", + "x": 0.36911106145562367, + "y": 0.018296291775173612 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达绿色毛巾正上方后下降抵住绿色毛巾，向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，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": 60, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近绿色毛巾，因此进度提升至10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面。\n为完成把绿色毛巾移到桌子左上方的任务应当：继续向爪夹方向的前方移动并下降。", + "time": 2.0121723236091333, + "annotations": { + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058344790_j7hlust5a", + "x": 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"当前爪夹已悬空于绿色毛巾正上方，已接近绿色毛巾，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于绿色毛巾正上方。。\n为完成把绿色毛巾移到桌子左上方的任务应当：下降抵住绿色毛巾，向爪夹方向的左前方移动。", + "time": 3.0502479036512926, + "annotations": { + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058374444_ot4nw4to3", + "x": 0.2581110682305256, + "y": 0.22491357421875, + "width": 0.5629999656372091, + "height": 0.6417777777777777 + } + ] + }, + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058387962_sdihjkedk", + "x": 0.3941110599297449, + "y": 0.4254074028862847, + "width": 0.19799998791503975, + "height": 0.23644444444444446 + } + ] + }, + "point_1767058276247": { + "type": "point", + "instances": [ + { + "id": "point_1767058276247_1767058390776_bubhljjhg", + "x": 0.4711110552300381, + "y": 0.4805185139973958 + } + ] + }, + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058392635_7cdtznu0i", + "x": 0.5161110524834562, + "y": 0.5231851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降，抵住绿色毛巾。", + "correction_plan": "向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动并下降，成功移动到绿色毛巾正上方，因此成功下降抵住绿色毛巾。", + "frame": 110, + "progress": 60, + "progress_explanation": "爪夹垂直下降，已抵住绿色毛巾，因此进度提升为40%。", + "state_description": "当前爪夹张开，抵住绿色毛巾。\n为完成把绿色毛巾移到桌子左上方的任务应当：向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "time": 3.6584953138322454, + "annotations": { + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058399399_d6n2fznxj", + "x": 0.3991110596245691, + "y": 0.4129629584418403, + "width": 0.19099998834228585, + "height": 0.24533333333333332 + } + ] + }, + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058403096_3836l7di1", + "x": 0.2601110681084553, + "y": 0.21740740288628474, + "width": 0.557999965942385, + "height": 0.6577777777777778 + } + ] + }, + "point_1767058276247": { + "type": "point", + "instances": [ + { + "id": "point_1767058276247_1767058415364_kmmzb018p", + "x": 0.4681110554131435, + "y": 0.5018518473307292 + } + ] + }, + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058417368_qgjstaba9", + "x": 0.5031110532769132, + "y": 0.5658518473307291 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "error_success_analysis": "爪夹成功下降抵住绿色毛巾，向爪夹方向的左前方移动。", + "frame": 137, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的左前方移动，使绿色毛巾开始靠近桌子左上方。因此进度提升至70%", + "state_description": "当前爪夹张开，抵住绿色毛巾。\n为完成把绿色毛巾移到桌子左上方的任务应当：继续向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "time": 4.583031377307294, + "annotations": { + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058421153_yr67fzvhd", + "x": 0.48611105431451085, + "y": 0.47558024088541667 + } + ] + }, + "point_1767058276247": { + "type": "point", + 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"当前爪夹张开，抵住绿色毛巾。\n为完成把绿色毛巾移到桌子左上方的任务应当：继续向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "time": 5.783306266731041, + "annotations": { + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058450921_vu0rko2lm", + "x": 0.2561110683525959, + "y": 0.22313579644097223, + "width": 0.5639999655761739, + "height": 0.6435555555555555 + } + ] + }, + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058463633_j1hpewngg", + "x": 0.44111105706109266, + "y": 0.35074073621961804, + "width": 0.13499999176025446, + "height": 0.1368888888888889 + } + ] + }, + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058472587_dpwwddjl4", + "x": 0.5231110520562102, + "y": 0.42185184733072917 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，随后抬起，绿色毛巾已移动至桌子左上方。。", + "correction_plan": "", + "error_success_analysis": "爪夹已成功移动至桌子的左上方。", + "frame": 211, + "progress": 100, + "progress_explanation": "当前绿色毛巾已移动至桌子左上方。因此进度提升至100%", + "state_description": "当前爪夹张开，绿色毛巾已移动至桌子左上方。已完成把绿色毛巾移到桌子左上方。", + "time": 7.040350914438344, + "annotations": { + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058477495_lzmr8w3w9", + "x": 0.5341110513848235, + "y": 0.3951851806640625 + } + ] + }, + "point_1767058276247": { + "type": "point", + "instances": [ + { + "id": "point_1767058276247_1767058480061_6ng1d9wec", + "x": 0.5141110526055266, + "y": 0.3720740695529514 + } + ] + }, + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058483253_k36zd0dpk", + "x": 0.45811105602349506, + "y": 0.33118518066406255, + "width": 0.12099999261474652, + "height": 0.13866666666666663 + } + ] + }, + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058496369_0ujxe3y7j", + "x": 0.2571110682915608, + "y": 0.21740740288628474, + "width": 0.5669999653930684, + "height": 0.6453333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767058275328", + "name": "桌子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767058275464", + "name": "绿色毛巾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767058276247", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767058276382", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json new file mode 100644 index 0000000000000000000000000000000000000000..51d6a461db150bcc4e6b6c190ab2fd9fba9506c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json @@ -0,0 +1,269 @@ +{ + "task_description": "将水龙头向左移动：\n爪夹开始移动：0%\n爪夹靠近水龙头：30%\n爪夹抓住水龙头：50%\n爪夹抓住水龙头开始向左移动：70%\n爪夹抓住水龙头移动至左边；100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达水龙头正上方后，抓取水龙头，向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将水龙头向左移动的任务应当：向爪夹方向的前方移动并下降，移动至水龙头上方。", + "time": 2.1507061202562396, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060210592_ofknbrmw6", + "x": 0.6076665888875372, + "y": 0.27409874131944445, + "width": 0.08999999450683624, + "height": 0.28444444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达水龙头正上方后，抓取水龙头，向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，与水龙头的水平距离和垂直距离拉近。", + "frame": 90, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近水龙头因此进度提升至10%。", + "state_description": "当前爪夹张开，垂直于水槽上方。\n为完成将水龙头向左移动的任务应当：继续向爪夹方向的前方移动并下降，移动至水龙头上方。", + "time": 3.0122181309959095, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060216724_rr84a6o0g", + "x": 0.6106665887044318, + "y": 0.27409874131944445, + "width": 0.08799999462890665, + "height": 0.2862222222222222 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060223410_fw18s0a3l", + "x": 0.5726665910237676, + "y": 0.2669876302083333 + } + ] + }, + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060226667_hgu8jtqxk", + "x": 0.6656665853474985, + "y": 0.28832096354166664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时下降。", + "correction_plan": "合拢爪夹抓取水龙头，向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功接近水龙头。", + "frame": 107, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，垂直于水龙头上方，接近水龙头。因此进度提升至30%", + "state_description": "当前爪夹张开，垂直于水龙头上方。\n为完成将水龙头向左移动的任务应当：合拢爪夹抓取水龙头，向爪夹方向的左方移动。", + "time": 3.56196982677368, + "annotations": { + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060230246_j8xpzl4xj", + "x": 0.6756665847371469, + "y": 0.3700987413194445 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060232267_s1tvc4zep", + "x": 0.5856665902303106, + "y": 0.3327654079861111 + } + ] + }, + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060237244_vifys9xl3", + "x": 0.6036665891316778, + "y": 0.2705431857638889, + "width": 0.09499999420166061, + "height": 0.28977777777777786 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降，同时合拢爪夹。", + "correction_plan": "向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动并下降，成功移动至水龙头正上方，因此才能成功抓住水龙头。", + "frame": 131, + "progress": 50, + "progress_explanation": "爪夹垂直下降并合拢，已经抓住水龙头。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住水龙头。\n为完成将水龙头向左移动的任务应当：向爪夹方向的左方移动，直至水龙头移动至左边。", + "time": 4.355860716553193, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060246964_yjvyl9qmo", + "x": 0.6046665890706426, + "y": 0.2865431857638889, + "width": 0.09299999432373082, + "height": 0.2755555555555556 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060255034_3kgndxv0g", + "x": 0.608666588826502, + "y": 0.38965429687500003 + } + ] + }, + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060256794_spelzftfc", + "x": 0.648666586385096, + "y": 0.4092098524305555 + } + ] + } + } + }, + { + "action_description": "爪夹抓住水龙头开始向爪夹方向的左侧移动。", + "correction_plan": "继续向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹成功抓住水龙头，开始向爪夹方向的左方移动。", + "frame": 156, + "progress": 70, + "progress_explanation": "爪夹抓住水龙头，开始向爪夹方向的左方移动，因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住水龙头，垂直于水槽上方。\n为完成将水龙头向左移动的任务应当：继续向爪夹方向的左方移动，直至水龙头移动至左边。", + "time": 5.198052269187549, + "annotations": { + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060260131_mtr7odduz", + "x": 0.635666587178553, + "y": 0.39854318576388886 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060262717_7yj7whrvm", + "x": 0.6016665892537482, + "y": 0.38787651909722226 + } + ] + }, + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060267936_6ryfbxheu", + "x": 0.5956665896199591, + "y": 0.2812098524305556, + "width": 0.10299999371337928, + "height": 0.28088888888888897 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动，随后爪夹脱离水龙头。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将水龙头向左移动。", + "frame": 189, + "progress": 100, + "progress_explanation": "水龙头已经向左移动。因此进度提升至100%", + "state_description": "当前爪夹半合拢，水龙头已向左移动。已完成将水龙头向左移动的任务。", + "time": 6.312485237208589, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060275776_sqya68263", + "x": 0.5466665926106816, + "y": 0.26520985243055556, + "width": 0.15099999078369192, + "height": 0.29333333333333333 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060283469_gi67mj75h", + "x": 0.5136665946248417, + "y": 0.3238765190972222 + } + ] + }, + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060285645_fwm2k7avk", + "x": 0.5336665934041386, + "y": 0.3398765190972222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767060195990", + "name": "水龙头", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767060196802", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767060196926", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json new file mode 100644 index 0000000000000000000000000000000000000000..48d6171736aba5f49c5353d2559282cc77278a2e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json @@ -0,0 +1,105 @@ +{ + "task_description": "折叠绿色布料：\n爪夹开始移动：0%\n爪夹靠近绿色布料：30%\n爪夹抓取绿色布料：50%\n爪夹抓住绿色布料并移动至布料的右方，使绿色布料开始折叠：80%\n爪夹将绿色布料折叠：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成折叠绿色布料的任务应当：向爪夹方向的前方移动并下降，移动至绿色布料上方。", + "time": 0.9724930648985517 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹垂直下降，成功拉近与绿色布料的垂直距离。", + "frame": 49, + "progress": 10, + "progress_explanation": "爪夹垂直下降，与绿色布料的垂直距离拉近，因此进度提升至10%", + "state_description": "当前爪夹张开，与绿色布料的垂直距离拉近。\n为完成折叠绿色布料的任务应当：向爪夹方向的左前方移动并下降，移动至绿色布料上方。", + "time": 1.6419698337566044 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，同时爪夹下降。成功拉近与绿色布料的水平距离。", + "frame": 82, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与绿色布料的水平距离拉近，与绿色布料的垂直距离轻微拉近。因此进度提升至20%", + "state_description": "当前爪夹张开，与绿色布料的水平距离拉近。\n为完成折叠绿色布料的任务应当：继续向爪夹方向的左前方移动并下降，移动至绿色布料上方。", + "time": 2.741351252209268 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "下降抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功移动至绿色布料正上方。", + "frame": 107, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于绿色布料正上方，已接近绿色布料，因此进度提升为20%。", + "state_description": "当前爪夹张开，垂直于绿色布料的正上方。\n为完成折叠绿色布料的任务应当：下降抓取绿色布料，随后抬起爪夹。", + "time": 3.5509732270387486 + }, + { + "action_description": "爪夹垂直下降，同时合拢爪夹。", + "correction_plan": "抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹成功移动至绿色布料正上方，因此才能成功抓取绿色布料。", + "frame": 134, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到绿色布料。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住绿色布料。\n为完成折叠绿色布料的任务应当：抬起爪夹，向爪夹方向的右方移动。", + "time": 4.4751733981082 + }, + { + "action_description": "爪夹垂直抬起，随后向爪夹方向的右方移动。", + "correction_plan": "抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹成功抓取到绿色布料，开始向爪夹方向的右侧移动。", + "frame": 167, + "progress": 60, + "progress_explanation": "爪夹抬起，开始向爪夹方向的右方移动。因此进度提升至60&", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成折叠绿色布料的任务应当：继续向爪夹方向的右方移动。", + "time": 5.570766995823874 + }, + { + "action_description": "爪夹向爪夹方向的右方移动，同时下降爪夹。", + "correction_plan": "下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹抓住绿色布料成功向爪夹方向的右方移动，使绿色布料开始折叠。", + "frame": 189, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右方移动，使绿色布料开始折叠，因此进度提升至80%", + "state_description": "当前爪夹合拢，绿色布料半折叠。\n为完成折叠绿色布料的任务应当：下降爪夹，使绿色布料完全折叠。", + "time": 6.295165604881829 + }, + { + "action_description": "爪夹垂直下降，绿色布料完全折叠。", + "correction_plan": "", + "error_success_analysis": "绿色布料已完成折叠。", + "frame": 219, + "progress": 100, + "progress_explanation": "绿色布料已完成折叠。因此进度提升至100%", + "state_description": "当前爪夹张开，垂直于桌面，绿色布料完全折叠。已完成折叠绿色布料的任务。", + "time": 7.304589141722806 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767062555529", + "name": "绿色布料", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767062556071", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767062556192", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json new file mode 100644 index 0000000000000000000000000000000000000000..f438a0b98bf2930a6b0cf13ae134e8d485d3f9ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json @@ -0,0 +1,108 @@ +{ + "task_description": "将垃圾桶向右移动：\n爪夹开始移动：0%\n爪夹靠近垃圾桶：20%\n爪夹抓取垃圾桶：40%\n爪夹抓住垃圾桶并向垃圾桶右方移动：60%\n爪夹将垃圾桶放在之前垃圾桶位置的右侧：80%\n爪夹松开，使垃圾桶落在之前垃圾桶位置的右侧：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右后方移动并下降，直至爪夹到达垃圾桶正上方，抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "", + "frame": 15, + "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。\n为完成将垃圾桶向右移动的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左方移动至散热器的正上方。", + "time": 0.5154633817086205 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "correction_plan": "继续向爪夹方向的右后方移动并下降，直至爪夹到达垃圾桶正上方，抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，成功拉近与垃圾桶的距离。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右后方移动，与垃圾桶的水平距离拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与垃圾桶水平距离拉近。\n为完成将垃圾桶向右移动的任务应当：继续向爪夹方向的右后方移动并下降，直至爪夹处于垃圾桶正上方。", + "time": 1.5670097072949152 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "correction_plan": "抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功向爪夹方向的左后方移动至垃圾桶的正上方。", + "frame": 76, + "progress": 20, + "progress_explanation": "爪夹当前位于垃圾桶正上方，成功接近垃圾桶。因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于垃圾桶的正上方。\n为完成将垃圾桶向右移动的任务应当：下降抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 2.5319581001858675 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功调整至合适位置，方便抓取垃圾桶。", + "frame": 100, + "progress": 30, + "progress_explanation": "爪夹垂直下降，使爪夹位于垃圾桶中，与垃圾桶位置进一步拉近。因此进度提升至30%", + "state_description": "当前爪夹张开，垂直于垃圾桶中。\n为完成将垃圾桶向右移动的任务应当：合拢抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 3.336081760928328 + }, + { + "action_description": "爪夹合拢抓取垃圾桶。", + "correction_plan": "抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，爪夹合拢成功抓取到垃圾桶。", + "frame": 131, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了垃圾桶。因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住垃圾桶。\n为完成将垃圾桶向右移动的任务应当：抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 4.350514686788047 + }, + { + "action_description": "爪夹向爪夹方向的后方移动并上升。", + "correction_plan": "向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹抓住垃圾桶并向爪夹方向的后方抬升，方便移动垃圾桶。", + "frame": 159, + "progress": 50, + "progress_explanation": "当前爪夹抓住垃圾桶并抬升。因此进度提升至50%", + "state_description": "当前抓佳合拢，垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。", + "time": 5.315463079679001 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "继续向爪夹方向的后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹抓住垃圾桶，正在向垃圾桶的右方移动。", + "frame": 188, + "progress": 60, + "progress_explanation": "爪夹抓住垃圾桶向爪夹方向的做后方移动，正在向垃圾桶右方移动。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：继续向爪夹方向的后方移动，直至垃圾桶处于之前垃圾桶位置的右方。", + "time": 6.280411472569952 + }, + { + "action_description": "爪夹向爪夹方向的后方移动。", + "correction_plan": "下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的后方移动，成功将垃圾桶移动至之前垃圾桶位置的右方并垂直于桌面。", + "frame": 241, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的后方移动，将垃圾桶移动至之前垃圾桶位置的右方并垂直于桌面。因此进度提升至70%", + "state_description": "当前爪夹合拢，垃圾桶处于之前垃圾桶位置的右方并垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：下降将垃圾桶放到桌子上，松开爪夹。", + "time": 8.049483526203367 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功将垃圾桶移动至之前垃圾桶位置的右方。", + "frame": 287, + "progress": 80, + "progress_explanation": "爪夹下降将垃圾桶放在桌面。因此进度提升至80%", + "state_description": "当前爪夹合拢，垃圾桶处于之前垃圾桶位置的右方。\n为完成将垃圾桶向右移动的任务应当：松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "time": 9.558761781750754 + }, + { + "action_description": "爪夹松开并抬起爪夹。", + "correction_plan": "", + "error_success_analysis": "垃圾桶成功落在之前垃圾桶位置的右侧。", + "frame": 323, + "progress": 100, + "progress_explanation": "爪夹成功将垃圾桶放在之前垃圾桶位置的右侧。因此进度提升至100%", + "state_description": "当前爪夹张开，垃圾桶放在之前垃圾桶位置的右侧。已完成将垃圾桶向右移动的任务。", + "time": 10.75876170624335 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json new file mode 100644 index 0000000000000000000000000000000000000000..ccfc1a1707f680776e64869d79e4e9b161114330 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json @@ -0,0 +1,135 @@ +{ + "task_description": "将橙色物品稍微向右移动：\n爪夹开始移动：0%\n爪夹靠近橙色物体：20%\n爪夹抓取橙色物体：45%\n爪夹抓住橙色物体并向右移动：70%\n爪夹松开，使橙色物体向右掉落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左下方移动，到橙色物体正上方后下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "", + "frame": 42, + "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。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的左下方移动，到橙色物体正上方后下降。", + "time": 1.3906515666119093 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的左下方移动，到橙色物体正上方后下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，垂直方向上成功接近散热器。", + "frame": 88, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上略微接近橙色物体，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与橙色物体的垂直距离拉近。\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的左下方移动，到橙色物体正上方后继续下降。", + "time": 2.9473524995876983 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，同时下降爪夹。", + "correction_plan": "向爪夹方向的前方下降并移动，到橙色物体正上方后继续下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹与橙色物体的垂直距离成功拉近，但水平方向上与橙色物体略微拉远。", + "frame": 158, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上略微接近橙色物体，但是水平方向上与橙色物体略微拉远，因此进度提升依旧为10%", + "state_description": "当前状态为爪夹打开，与橙色物体的垂直距离拉近，但与橙色物体的水平距离略微拉远。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的前方下降并移动，到橙色物体正上方后继续下降。", + "time": 5.282403899051381 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时下降爪夹，成功靠近橙色物体。", + "frame": 235, + "progress": 20, + "progress_explanation": "爪夹位于橙色物体上方，靠近橙色物体，因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于橙色物体上方。\n为完成将橙色物品稍微向右移动的任务应当：下降抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 7.835393429131676 + }, + { + "action_description": "爪夹轻微调整为之后合拢爪夹。", + "correction_plan": "抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动并下降，移动至橙色物体上方，因此才能成功抓取橙色物体。", + "frame": 294, + "progress": 45, + "progress_explanation": "当前爪夹成功抓取橙色物体，因此进度提升至45%", + "state_description": "当前爪夹合拢，抓住橙色物体。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 9.796836604681172 + }, + { + "action_description": "爪夹抬起并向爪夹方向的左方移动。", + "correction_plan": "向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹移动方向错误，与橙色物体原先位置的右方相反。", + "frame": 380, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的左方移动，与橙色物体原先位置的右方相反，因此进度下降至30%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 12.661166321356621 + }, + { + "action_description": "爪夹正在调整角度。", + "correction_plan": "向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹调整角度，准备向爪夹方向的右侧移动。", + "frame": 489, + "progress": 50, + "progress_explanation": "爪夹调整调度，准备向爪夹方向的右方移动，因此进度提升至50%", + "state_description": "当前爪夹合拢，位于桌面上放。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 16.303846504519967 + }, + { + "time": 18.9354, + "frame": 568, + "progress": 40, + "action_description": "爪夹想爪夹方向的左上方调整角度。", + "state_description": "当前爪夹合拢。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的右方调整爪夹角度，向爪夹方向的右方移动。", + "progress_explanation": "爪夹调整角度方向与橙色物体右方相反。因此进度下降至%40", + "error_success_analysis": "爪夹调整方向与橙色物体右方相反。", + "correction_plan": "向爪夹方向的右方调整爪夹角度，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。" + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "继续向爪夹方向的右方移动，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹移动方向正确，成功向橙色物体物体原本位置的右侧移动。", + "frame": 636, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的右方移动并调整爪夹角度。因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住橙色物体。\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的右方移动。", + "time": 21.191887434063943 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并调整角度。", + "correction_plan": "下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功将橙色物体移动橙色物体原本位置的右侧", + "frame": 695, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右方移动，橙色物体已经移动橙色物体原本位置的右侧。因此进度提升至80%", + "state_description": "当前爪夹合拢，与桌面水平呈70°\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的右方移动。", + "time": 23.153330609613437 + }, + { + "action_description": "爪夹松开，橙色物体掉落至桌面。", + "correction_plan": "", + "error_success_analysis": "橙色物体成功向右移动。", + "frame": 731, + "progress": 100, + "progress_explanation": "爪夹松开，橙色物体已掉落至橙色物体原本位置的右侧。因此进度提升至100%", + "state_description": "当前爪夹打开，橙色物体位于橙色物体原本位置的右侧。已完成将橙色物品稍微向右移动的任务。", + "time": 24.367557337334553 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767083350936", + "name": "橙色物体", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767083351766", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767083351904", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf77b9fab63997c40a95d8ac34828a2810925ca --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json @@ -0,0 +1,98 @@ +{ + "task_description": "移动胡萝卜毛绒玩具：\n爪夹开始移动：0%\n爪夹靠近胡萝卜毛绒玩具：30%\n爪夹抓取胡萝卜毛绒玩具：50%\n爪夹抓住胡萝卜毛绒玩具并移动：80%\n爪夹松开，使胡萝卜毛绒玩具落下：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达胡萝卜毛绒玩具正上方后，抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成移动胡萝卜毛绒玩具的任务应当：向爪夹方向的前方移动并下降，移动至胡萝卜毛绒玩具上方。", + "time": 1.6773726528586692 + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达胡萝卜毛绒玩具正上方后，抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功靠近胡萝卜毛绒玩具。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与胡萝卜毛绒玩具的水平距离拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与胡萝卜毛绒玩具的水平距离拉近。\n为完成移动胡萝卜毛绒玩具的任务应当：继续向爪夹方向的前方移动并下降，移动至胡萝卜毛绒玩具上方。", + "time": 2.986376043688333 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "", + "frame": 123, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于胡萝卜毛绒玩具正上方，已接近胡萝卜毛绒玩具，因此进度提升至20%", + "state_description": "当前爪夹张开，位于胡萝卜毛绒玩具上方。\n为完成移动胡萝卜毛绒玩具的任务应当：下降抓取胡萝卜毛绒玩具，随后抬起爪夹。", + "time": 4.099640609721037 + }, + { + "action_description": "爪夹下降并向爪夹方向的前方移动。", + "correction_plan": "继续下降抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方与移动并下降，成功与胡萝卜毛绒玩具的距离进一步拉近。", + "frame": 160, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的前方与移动并下降，进一步拉近与胡萝卜毛绒玩具的距离。因此进度提升至30%", + "state_description": "当前爪夹张开，进一步拉近与胡萝卜毛绒玩具的垂直距离。\n为完成移动胡萝卜毛绒玩具的任务应当：继续下降抓取胡萝卜毛绒玩具，随后抬起爪夹。", + "time": 5.335241941251841 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降，随后合拢爪夹。", + "correction_plan": "抓取胡萝卜毛绒玩具后，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时下降爪夹并合拢，成功抓取胡萝卜毛绒玩具。", + "frame": 205, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，已经抓住胡萝卜毛绒玩具。因此进度提升至50%", + "state_description": "当前爪夹合拢，夹住胡萝卜毛绒玩具。\n为完成移动胡萝卜毛绒玩具的任务应当：抬起爪夹，向爪夹方向的左方移动。", + "time": 6.827750480328654 + }, + { + "action_description": "爪夹向爪夹方向的左方移动并抬起。", + "correction_plan": "继续向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，随后抬起爪夹，开始将胡萝卜毛绒玩具向左方移动。", + "frame": 233, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的左方移动并抬起，将胡萝卜毛绒玩具向左方移动。因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住胡萝卜毛绒玩具垂直于桌面。\n为完成移动胡萝卜毛绒玩具的任务应当：继续向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边。", + "time": 7.769743574664019 + }, + { + "action_description": "爪夹向爪夹方向的左边移动。", + "correction_plan": "下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的左边移动，成功将胡萝卜毛绒玩具与胡萝卜毛绒玩具的起始位置拉远。", + "frame": 271, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的左边移动，使胡萝卜毛绒玩具位置移动。因此进度提升至80%", + "state_description": "当前爪夹合拢，与胡萝卜毛绒玩具的起始位置拉远。\n为完成移动胡萝卜毛绒玩具的任务应当：下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹。", + "time": 9.017578582744633 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹成功将胡萝卜毛绒玩具移动至玉米毛绒玩具上方，成功将胡萝卜毛绒玩具的位置移动。。", + "frame": 298, + "progress": 90, + "progress_explanation": "爪夹垂直下降，将胡萝卜毛绒玩具放在玉米毛绒玩具上方。因此进度提升至90%", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成移动胡萝卜毛绒玩具的任务应当：随后张开爪夹，使胡萝卜毛绒玩具落下。", + "time": 9.922870647430567 + }, + { + "action_description": "爪夹张开并垂直抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，胡萝卜毛绒玩具落下，成功移动胡萝卜毛绒玩具的位置。", + "frame": 334, + "progress": 100, + "progress_explanation": "爪夹松开，胡萝卜毛绒玩具落下，位于之前胡萝卜毛绒玩具的左方。因此进度提升至100%", + "state_description": "当前爪夹张开，垂直于桌面，胡萝卜毛绒玩具成功向左移动。已完成移动胡萝卜毛绒玩具的任务。", + "time": 11.121770949311943 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json new file mode 100644 index 0000000000000000000000000000000000000000..17b66d849c00c315fdda5f9d67424ae779461a48 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json @@ -0,0 +1,68 @@ +{ + "task_description": "关闭白色文件柜的顶层白色抽屉：\n爪夹开始移动：0%\n爪夹靠近白色抽屉：30%\n爪夹顶住白色抽屉：60%\n爪夹关闭白色抽屉；100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的上方抬起爪夹，随后向爪夹方向的左前方移动，靠近白色抽屉，随后向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭，", + "error_success_analysis": "", + "frame": 25, + "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。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：向爪夹方向的上方抬起爪夹，随后向爪夹方向的左前方移动。", + "time": 0.845177192283697 + }, + { + "action_description": "爪夹向爪夹方向的上方抬升并慢慢合拢。", + "correction_plan": "向爪夹方向的左前方移动，靠近白色抽屉，随后向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭，", + "error_success_analysis": "爪夹向爪夹方向的上方抬起，成功与白色抽屉的垂直距离拉近。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方抬起并慢慢合拢，与白色抽屉的垂直距离拉近，因此进度提升至10%", + "state_description": "当前爪夹张开，爪夹半合拢。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：向爪夹方向的左前方移动，靠近白色抽屉。", + "time": 2.4512251139070105 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并合拢爪夹。", + "correction_plan": "向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹向爪夹方向的左前方，成功与白色抽屉的水平距离拉近。", + "frame": 98, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与白色抽屉的水平距离拉近。因此进度提升至30%", + "state_description": "当前爪夹合拢，爪夹垂直于白色抽屉。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，靠近白色抽屉。", + "time": 3.2795411679725777 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功顶住白色抽屉。", + "frame": 117, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的前方移动，顶住白色抽屉。因此进度提升至60%", + "state_description": "当前爪夹合拢，爪夹顶住白色抽屉。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，将白色抽屉关闭。", + "time": 3.911843499320339 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹成功顶住白色抽屉，正在关闭白色抽屉。", + "frame": 142, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的前方移动，白色抽屉已关闭一半。因此进度提升至80%", + "state_description": "当前爪夹合拢，白色抽屉关上一半。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，将白色抽屉关闭。", + "time": 4.721190483445474 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "", + "error_success_analysis": "白色文件柜的顶层白色抽屉已关闭。", + "frame": 181, + "progress": 100, + "progress_explanation": "爪夹向前移动，使白色抽屉关闭。因此进度提升至100%", + "state_description": "当前爪夹合拢，白色抽屉关闭。已完成关闭白色文件柜的顶层白色抽屉的任务。", + "time": 6.030056309335339 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json new file mode 100644 index 0000000000000000000000000000000000000000..423f4be665c9ccc23cc7ffaf8ea9b4cfc3eea31d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json @@ -0,0 +1,58 @@ +{ + "task_description": "拿起卡其色衣服，将其放入快递箱中：\n爪夹开始移动：0%\n爪夹靠近卡其色衣服：20%\n爪夹抓取卡其色衣服：40%\n爪夹抓住卡其色衣服并接近快递箱：60%\n爪夹将卡其色衣服放入快递箱中：80%\n爪夹松开，使卡其色衣服落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "", + "frame": 42, + "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。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的左前方移动至卡其色衣服的正上方。", + "time": 1.4048334898568702 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左前方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与卡其色衣服的水平距离。", + "frame": 64, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与卡其色衣服的水平距离拉近。因此进度提升至5%", + "state_description": "当前爪夹张开，与卡其色衣服的水平距离拉近。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：继续向爪夹方向的左前方移动至卡其色衣服的正上方。", + "time": 2.126620345470918 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "向爪夹方向的右方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功与卡其色衣服的水平距离进一步拉近。", + "frame": 92, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与卡其色衣服的水平距离进一步拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与卡其色衣服的水平距离进一步拉近。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的右方移动至卡其色衣服的正上方。", + "time": 3.056379684905963 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "向爪夹方向的右方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动，更加接近卡其色衣服的位置。", + "frame": 126, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的前方移动，更加接近卡其色衣服的位置。因此进度提升至20%", + "state_description": "当前爪夹张开，接近卡其色衣服的位置。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的右方移动至卡其色衣服的正上方。", + "time": 4.200228345921446 + }, + { + "action_description": "爪夹向爪夹方向的右方移动，同时下降爪夹。", + "correction_plan": "合拢抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的右方移动并下降，垂直于卡其色衣服上，方便抓取。", + "frame": 169, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，垂直于卡其色衣服上。因此进度提升至30%", + "state_description": "当前爪夹张开，垂直于卡其色衣服上。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：合拢爪夹抓取卡其色衣服后竖直上升，向爪夹方向的右方移动。", + "time": 5.643802057149542 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json new file mode 100644 index 0000000000000000000000000000000000000000..74e67a8bc72cbfb0d3e9706594a691496e8a32a0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json @@ -0,0 +1,342 @@ +{ + "task_description": "将杯子向桌子边缘移动：\n爪夹开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并接近桌子边缘：60%\n爪夹将杯子放在桌子边缘：80%\n爪夹松开，使杯子放在桌子边缘 ：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "error_success_analysis": "", + "frame": 9, + "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。\n为完成将杯子向桌子边缘移动的任务应当：向爪夹方向的前方移动，到达杯子正上方后下降。", + "time": 0.29186686804042744, + "annotations": { + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521096_1767080546068_b144nmy5h", + "x": -0.0003333740030899656, + "y": 0.28832096354166664, + "width": 0.88499994598389, + "height": 0.7093333333333334 + } + ] + }, + "bbox_1767080521232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521232_1767080553615_zx8hhmdzv", + "x": 0.36766660353597386, + "y": 0.6918765190972223, + "width": 0.08199999499511752, + "height": 0.14400000000000002 + } + ] + }, + "point_1767080521838": { + "type": "point", + "instances": [ + { + "id": "point_1767080521838_1767080561234_978fynq55", + "x": 0.4696665973103883, + "y": 0.45187651909722226 + } + ] + }, + "point_1767080521954": { + "type": "point", + "instances": [ + { + "id": "point_1767080521954_1767080562948_ff4alkdfb", + "x": 0.5116665947469119, + "y": 0.4252098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "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": 38, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近杯子。因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与杯子水平距离拉近。\n为完成将杯子向桌子边缘移动的任务应当：继续向爪夹方向的前方移动，同时让爪夹下降。", + "time": 1.2675369633495235, + "annotations": { + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521096_1767080570593_l9e85a5bu", + "x": 0.0016666258748397292, + "y": 0.2847654079861111, + "width": 0.8819999461669953, + "height": 0.7111111111111111 + } + ] + }, + "bbox_1767080521232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521232_1767080576152_im3zf2t5w", + "x": 0.3706666033528684, + "y": 0.6972098524305556, + "width": 0.07399999548339871, + "height": 0.13688888888888898 + } + ] + }, + "point_1767080521838": { + "type": "point", + "instances": [ + { + "id": "point_1767080521838_1767080582341_zlqsqxu0l", + "x": 0.43766659926351326, + "y": 0.661654296875 + } + ] + }, + "point_1767080521954": { + "type": "point", + "instances": [ + { + "id": "point_1767080521954_1767080586006_szq7l8wzo", + "x": 0.4726665971272829, + "y": 0.6118765190972222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的移动，同时爪夹下降。", + "correction_plan": "下降抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时下降垂直于杯子上方，方便抓取。", + "frame": 64, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于杯子正上方，已接近杯子，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于杯子上方。\n为完成将杯子向桌子边缘移动的任务应当：下降抓取杯子后竖直上升，向爪夹方向的后方移动。", + "time": 2.1368840354518595, + "annotations": { + "point_1767080521954": { + "type": "point", + "instances": [ + { + "id": "point_1767080521954_1767080590326_gjt2d3hlt", + "x": 0.4416665990193726, + "y": 0.6794320746527778 + } + ] + }, + "bbox_1767080521232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521232_1767080594008_rjhh6cnc9", + "x": 0.36966660341390356, + "y": 0.6954320746527778, + "width": 0.07799999523925813, + "height": 0.1422222222222222 + } + ] + }, + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521096_1767080602047_zbsav6ua2", + "x": 0.0036666257527694242, + "y": 0.26876540798611115, + "width": 0.8559999477539094, + "height": 0.727111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动并合拢爪夹。", + "correction_plan": "抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "error_success_analysis": "爪夹成功移动至杯子正上方，爪夹向爪夹的下方移动，并成功抓取到杯子。", + "frame": 90, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到杯子，因此进度提升为40%。", + "state_description": "当前爪夹合拢，抓到杯子。\n为完成将杯子向桌子边缘移动的任务应当：抓取杯子后竖直上升，向爪夹方向的后方移动。", + "time": 2.9874682211059436, + "annotations": { + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.wrist_image_left/episode_007411.json new file mode 100644 index 0000000000000000000000000000000000000000..087b82a3ff7192c60dba474a6d5269fc7ac07128 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.wrist_image_left/episode_007411.json @@ -0,0 +1,441 @@ +{ + "task_description": "将泵头瓶向右移动：\n爪夹开始移动：0%\n爪夹靠近泵头瓶：30%\n爪夹抓取泵头瓶：50%\n爪夹抓住泵头瓶并向泵头瓶右方移动：80%\n爪夹松开，将泵头瓶放至泵头平原本位置的右方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "point_1767085735632": { + "instances": [ + { + "id": "point_1767085735632_1767085787958_9gaxpbueh", + "x": 0.4366665993245483, + "y": 0.6403209635416667 + } + ], + "type": "point" + }, + "point_1767085735768": { + "instances": [ + { + "id": "point_1767085735768_1767085789758_2wi7eucem", + "x": 0.7626665794270886, + "y": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008087.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008087.json new file mode 100644 index 0000000000000000000000000000000000000000..603fc852979e506cbaa137f3b5d24bceb4ca5945 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008087.json @@ -0,0 +1,438 @@ +{ + "task_description": "将棕色碗向左移动；\n爪夹开始移动：0%\n爪夹靠近棕色碗：20%\n爪夹抓取棕色碗：40%\n爪夹抓住棕色碗并向碗的左侧移动：60%\n爪夹将棕色碗移动至棕色碗左侧的上方：80%\n爪夹松开，使棕色碗落到棕色碗的左方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，同时下降爪夹，到达棕色碗正上方后下降，抓取棕色碗后竖直上升，向爪夹方向的左方移动，直至棕色碗处于之前棕色碗位置的左边的正上方。下降爪夹，随后松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "error_success_analysis": 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"抓取棕色碗后竖直上升，向爪夹方向的左方移动，直至棕色碗处于之前棕色碗位置的左边的正上方。下降爪夹，随后松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方移动至棕色碗正上方，爪夹向爪夹的下方移动，并成功抓取到棕色碗。", + "frame": 117, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到棕色碗，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，爪夹已经抓取到棕色碗。\n为完成将棕色碗向左移动的任务应当：抓取棕色碗后竖直上升，向爪夹方向的左方移动。", + "time": 3.9003890267019985, + "annotations": { + "bbox_1767147530815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147530815_1767147664018_c2cc8ykb7", + "x": 0.30666660725911815, + "y": 0.2812098524305556, + "width": 0.46499997161865403, + "height": 0.6808888888888889 + } + ] + }, + "bbox_1767147531195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147531195_1767147670710_yi93s0kfl", + "x": 0.6436665866902718, + "y": 0.3523209635416667, + "width": 0.06799999584960963, + "height": 0.0942222222222222 + } + ] + }, + "point_1767147531749": { + "type": "point", + "instances": [ + { + "id": 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"当前爪夹合拢，抓住棕色碗垂直于桌面。\n为完成将棕色碗向左移动的任务应当：下降爪夹并松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "time": 5.17021717669771, + "annotations": { + "bbox_1767147530815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147530815_1767147706797_b7t8a0958", + "x": 0.3086666071370479, + "y": 0.29187651909722223, + "width": 0.4609999718627947, + "height": 0.6631111111111112 + } + ] + }, + "bbox_1767147531195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147531195_1767147717072_h2l8ypnve", + "x": 0.583666590352381, + "y": 0.31676540798611114, + "width": 0.08299999493408228, + "height": 0.11733333333333332 + } + ] + }, + "point_1767147531749": { + "type": "point", + "instances": [ + { + "id": "point_1767147531749_1767147719799_zvm2ceri8", + "x": 0.5956665896199591, + "y": 0.4074320746527778 + } + ] + } + } + }, + { + "action_description": "爪夹下降并向爪夹方向的左前方移动。", + "correction_plan": "松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "error_success_analysis": "爪夹下降并向爪夹方向的左前方移动，方便松开爪夹使棕色碗落到桌面。", + "frame": 190, + "progress": 90, + "progress_explanation": "爪夹下降使棕色碗与桌面的水平距离拉近。因此进度提升至90%", + "state_description": "当前爪夹合拢，与桌面的垂直距离拉近。\n为完成将棕色碗向左移动的任务应当：松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "time": 6.329254951190442, + "annotations": { + "bbox_1767147531195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147531195_1767147727322_urjhsp3re", + "x": 0.5246665939534549, + "y": 0.39320985243055556, + "width": 0.08599999475097686, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1767147530815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147530815_1767147740443_o3oa7rqxy", + "x": 0.30766660719808303, + "y": 0.2812098524305556, + "width": 0.464999971618654, + "height": 0.6791111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹松开，棕色碗落到桌面。", + "correction_plan": "", + "error_success_analysis": "爪夹成功抓住棕色碗并向爪夹方向的左方移动，使棕色碗位置向左移动。", + "frame": 215, + "progress": 100, + "progress_explanation": "爪夹松开，棕色碗已经落到棕色碗的左方。因此进度提升至100%", + "state_description": "当前爪夹松开，棕色碗落至桌面。已完成将棕色碗向左移动的任务。", + "time": 7.181488608905683, + "annotations": { + "bbox_1767147530815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147530815_1767147753277_y4nq9nt9l", + "x": 0.30766660719808303, + "y": 0.2847654079861111, + "width": 0.46599997155761885, + "height": 0.6791111111111111 + } + ] + }, + "bbox_1767147531195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147531195_1767147759149_iqnhbwl1q", + "x": 0.5166665944417361, + "y": 0.4305431857638889, + "width": 0.0989999939575199, + "height": 0.12444444444444448 + } + ] + }, + "point_1767147531749": { + "type": "point", + "instances": [ + { + "id": "point_1767147531749_1767147771373_fxgf8q8hm", + "x": 0.5686665912679082, + "y": 0.558543185763889 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767147530815", + "name": "桌子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767147531195", + "name": "棕色碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767147531749", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767147531877", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008456.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008456.json new file mode 100644 index 0000000000000000000000000000000000000000..427c4f4454469fed207e6aa5f4eb13cd4503e0ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008456.json @@ -0,0 +1,663 @@ +{ + "task_description": "把笔从杯子上取出来，放在桌子上；\n爪夹开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓住笔并离开杯子：60%\n爪夹将笔放在桌面上方：80%\n爪夹松开，使笔落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": 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"#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008254.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008254.json new file mode 100644 index 0000000000000000000000000000000000000000..968510deb85f59c9086a25b38bce12bfc3d4be1c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008254.json @@ -0,0 +1,438 @@ +{ + "task_description": "把黑色碗放在粉色碗里面：\n爪夹开始移动：0%\n爪夹靠近黑色碗：20%\n爪夹抓取黑色碗：40%\n爪夹抓住黑色碗并接近粉色碗：60%\n爪夹将黑色碗移动至粉色碗上方：80%\n爪夹松开，使黑色碗落入粉色碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达黑色碗正上方后下降，抓取黑色碗后向爪夹方向的右方移动，随后抬起爪夹，向爪夹方向的右侧移动，直至黑色碗处于粉色碗正上方。下降将黑色碗放入粉色碗中，松开爪夹，使黑色碗落入粉色碗中。", + "error_success_analysis": "", + "frame": 10, + "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。\n为完成把黑色碗放在粉色碗里面的任务应当：向爪夹方向的前方移动并下降，到达黑色碗正上方后继续下降。", + "time": 0.3308815837377437, + "annotations": { + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152764824_lbqvbcjqd", + "x": 0.5966665895589239, + "y": 0.45720985243055556, + "width": 0.08899999456787144, + "height": 0.09955555555555556 + } + ] + }, + "bbox_1767152740226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740226_1767152768966_ogp0xbktp", + "x": 0.5256665938924198, + "y": 0.5407654079861112, + "width": 0.1039999936523441, + "height": 0.1315555555555555 + } + ] + }, + "point_1767152740834": { + "type": "point", + "instances": [ + { + "id": "point_1767152740834_1767152772752_67ywllwry", + "x": 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"当前状态为爪夹打开，垂直于黑色碗上方。\n为完成把黑色碗放在粉色碗里面的任务应当：合拢爪夹抓取黑色碗后向爪夹方向的右方移动，随后抬起爪夹。", + "time": 3.1319122373858432, + "annotations": { + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152794698_42oudsw87", + "x": 0.6046665890706426, + "y": 0.47498763020833334, + "width": 0.07999999511718778, + "height": 0.08355555555555559 + } + ] + }, + "bbox_1767152740226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740226_1767152798340_wa718rryg", + "x": 0.5296665936482792, + "y": 0.5389876302083333, + "width": 0.10499999359130889, + "height": 0.14044444444444446 + } + ] + }, + "point_1767152740834": { + "type": "point", + "instances": [ + { + "id": "point_1767152740834_1767152808798_m54i23ujl", + "x": 0.6136665885213264, + "y": 0.5887654079861111 + } + ] + }, + "point_1767152740964": { + "type": "point", + "instances": [ + { + "id": "point_1767152740964_1767152813746_bv5u12hgs", + "x": 0.6446665866292366, + "y": 0.5620987413194445 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓住黑色碗。", + "correction_plan": "抓取黑色碗后向爪夹方向的右方移动，随后抬起爪夹，向爪夹方向的右侧移动，直至黑色碗处于粉色碗正上方。下降将黑色碗放入粉色碗中，松开爪夹，使黑色碗落入粉色碗中。", + "error_success_analysis": "爪夹成功向爪夹前下方移动至黑色碗正上方，爪夹合拢并成功抓取到黑色碗。", + "frame": 115, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到黑色碗，因此进度提升为40%。", + "state_description": "当前爪夹合拢，抓住黑色碗。\n为完成把黑色碗放在粉色碗里面的任务应当：抓取黑色碗后向爪夹方向的右方移动，随后抬起爪夹。", + "time": 3.8297128563648433, + "annotations": { + "point_1767152740834": { + "type": "point", + "instances": [ + { + "id": "point_1767152740834_1767152819964_ii4by0zd8", + "x": 0.6116665886433966, + "y": 0.5923209635416667 + } + ] + }, + "bbox_1767152740226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740226_1767152823734_f402bvv9l", + "x": 0.5386665930989627, + "y": 0.5372098524305555, + "width": 0.10799999340820357, + "height": 0.1368888888888889 + } + ] + }, + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152831760_xh79a6k01", + 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"id": "point_1767152740964", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008600.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008600.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a42c8d0405a1c7b81512a3a3cbe805b7166471 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008600.json @@ -0,0 +1,393 @@ +{ + "task_description": "将杯子稍微向左移动：\n爪夹开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并抬起向杯子左方移动：60%\n爪夹将杯子移动至杯子左侧：80%\n爪夹松开，使杯子落至桌面：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达杯子正上方后继续下降，合拢爪夹抓取杯子后竖直上升，向爪夹方向的左方移动，直至杯子处于之前杯子位置的左方。下降爪夹，随后松开爪夹，使杯子落至桌面。", + "error_success_analysis": "", + "frame": 36, + "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。\n为完成将杯子稍微向左移动的任务应当：向爪夹方向的左前方移动并下降，到达杯子正上方后继续下降。", + "time": 1.195554705828121, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163870207_vfrcno2n5", + "x": 0.6246665878499397, + "y": 0.4712345377604166, + "width": 0.08999999450683624, + "height": 0.17600000000000005 + } + ] + }, + "point_1767163854873": { + "type": "point", + "instances": [ + { + "id": "point_1767163854873_1767163886749_3olwbsb79", + "x": 0.6456665865682014, + "y": 0.003876519097222222 + } + ] + }, + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": "point_1767163855007_1767163889263_u29le4qwc", + "x": 0.759666579610194, + "y": 0.021654296875 + } + ] + } + } + }, + { + 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}, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "correction_plan": "下降爪夹，随后松开爪夹，使杯子落至桌面。", + "error_success_analysis": "爪夹成功将杯子移动至之前杯子位置的左方。", + "frame": 441, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的左方移动，将杯子移动至之前杯子位置的左方。因此进度提升至80%", + "state_description": "当前爪夹合拢，杯子处于之前杯子位置的左方。\n为完成将杯子稍微向左移动的任务应当：下降爪夹，随后松开爪夹，使杯子落至桌面。", + "time": 14.691773537020056, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163965146_qtz3ymeku", + "x": 0.5246665939534549, + "y": 0.41987651909722223, + "width": 0.1009999938354496, + "height": 0.17600000000000005 + } + ] + }, + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": "point_1767163855007_1767163976587_0ja8wii29", + "x": 0.62266658797201, + "y": 0.501654296875 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "松开爪夹，使杯子落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的下方下降，成功拉近杯子与桌面的距离。", + "frame": 470, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的下方下降，杯子与桌面的垂直距离拉近。因此进度提升至90%", + "state_description": "当前爪夹合拢，杯子垂直于桌子上方。\n为完成将杯子稍微向左移动的任务应当：松开爪夹，使杯子落至桌面。", + "time": 15.653148029104958, + "annotations": { + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": "point_1767163855007_1767163981429_kc7hq3o2a", + "x": 0.6456665865682014, + "y": 0.5478765190972222 + } + ] + }, + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163988619_sskp9kn7s", + "x": 0.5526665922444706, + "y": 0.4785431857638889, + "width": 0.09299999432373082, + "height": 0.1795555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹张开，杯子落至桌面。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将杯子稍微向左移动。", + "frame": 505, + "progress": 100, + "progress_explanation": "爪夹松开，杯子已经落在之前杯子位置的左侧。因此进度提升至100%", + "state_description": "当前爪夹张开，杯子放在桌面上。已完成将杯子稍微向左移动的任务。", + "time": 16.836378173209457, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", 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"point_1767163854873", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767163855007", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008866.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008866.json new file mode 100644 index 0000000000000000000000000000000000000000..87ec64e09ce34dadef92ec2037c21125bc3aca31 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008866.json @@ -0,0 +1,352 @@ +{ + "task_description": "从大容器中拿起紫色玩具，然后将其放入蓝色容器中；\n爪夹开始移动：0%\n爪夹靠近紫色玩具：20%\n爪夹抓取紫色玩具：40%\n爪夹抓住紫色玩具并接近蓝色容器：60%\n爪夹将紫色玩具放入蓝色容器中中：80%\n爪夹松开，使紫色玩具落入蓝色容器中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降，合拢爪夹抓取紫色玩具后竖直上升，向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "", + "frame": 17, + "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。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降。", + "time": 0.5771358789788706, + "annotations": { + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166099997_etrr044pj", + "x": 0.3976666017049193, + "y": 0.6154320746527778, + "width": 0.07399999548339871, + "height": 0.08355555555555559 + } + ] + }, + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166105373_e6tm0nj5i", + "x": 0.19666661397298496, + "y": 0.4483209635416666, + "width": 0.20099998773193434, + "height": 0.48000000000000004 + } + ] + }, + "point_1767166079991": { + "type": "point", + "instances": [ + { + "id": "point_1767166079991_1767166119989_7vsyabc8p", + "x": 0.7896665777791394, + "y": 0.5940987413194444 + } + ] + }, + "point_1767166080189": { + "type": "point", + "instances": [ + { + "id": "point_1767166080189_1767166122013_za8gv9pr3", + "x": 0.878666572347011, + "y": 0.5887654079861111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降，合拢爪夹抓取紫色玩具后竖直上升，向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向与垂直方向都成功接近散热器。", + "frame": 50, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向与垂直方向上都接近紫色玩具，因此进度提升为10%。", + "state_description": "当前爪夹张开，与紫色玩具的垂直距离和水平距离拉近。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：继续向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降。", + "time": 1.663871165237574, + "annotations": { + "point_1767166080189": { + "type": "point", + "instances": [ + { + "id": "point_1767166080189_1767166126047_mtuyt8963", + "x": 0.5866665901692755, + "y": 0.5052098524305555 + } + ] + }, + "point_1767166079991": { + "type": "point", + "instances": [ + { + "id": "point_1767166079991_1767166127849_aslludqj6", + "x": 0.5056665951131227, + "y": 0.48209874131944447 + } + ] + }, + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166133587_nwy5br48z", + "x": 0.19566661403402014, + "y": 0.453654296875, + "width": 0.19899998785400466, + "height": 0.47111111111111115 + } + ] + }, + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166149417_xgjyc8lj1", + "x": 0.399666601582849, + "y": 0.6189876302083334, + "width": 0.06999999572753932, + "height": 0.0782222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续下降并合拢爪夹抓，取紫色玩具后竖直上升，向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，并且已经移动到了紫色玩具的正上方，方便抓取。", + "frame": 86, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于紫色玩具正上方，已接近紫色玩具，因此进度提升为20%。", + "state_description": "当前爪夹张开，位于紫色玩具上方。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：继续下降并合拢爪夹抓，取紫色玩具后竖直上升。", + "time": 2.870331525406134, + "annotations": { + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166155021_gue90upyr", + "x": 0.399666601582849, + "y": 0.6296542968750001, + "width": 0.06699999591064473, + "height": 0.06399999999999997 + } + ] + }, + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166167148_vqxf5bbfk", + "x": 0.19866661385091466, + "y": 0.44654318576388885, + "width": 0.19799998791503978, + "height": 0.4924444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，同时合拢爪夹抓取紫色玩具。", + "correction_plan": "抓取紫色玩具后竖直上升，向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动，并下降至紫色玩具正上方，爪夹向爪夹的下方移动，成功抓取到紫色玩具。", + "frame": 113, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到紫色玩具，因此进度提升为40%。", + "state_description": "当前爪夹合拢，爪夹已抓到紫色玩具。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：抓取紫色玩具后竖直上升，向爪夹方向的左方移动。", + "time": 3.7544551481250785, + "annotations": { + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166175291_m4wrviku2", + "x": 0.19866661385091466, + "y": 0.44476540798611114, + "width": 0.19499998809814525, + "height": 0.5013333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左上方抬起。", + "correction_plan": "向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹已经抓取到紫色玩具，并且在向着蓝色容器方向移动。", + "frame": 137, + "progress": 50, + "progress_explanation": "当前爪夹已抓住紫色玩具并抬起爪夹，并在水平方向上逐渐接近蓝色容器，因此进度提升至50%。", + "state_description": "当前爪夹合拢，抓住紫色玩具位于大容器上方。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。", + "time": 4.58332104442409, + "annotations": { + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166182659_2l5rntcag", + "x": 0.19566661403402014, + "y": 0.444765407986111, + "width": 0.1959999880371101, + "height": 0.4977777777777778 + } + ] + }, + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166192065_aspdxmxtg", + "x": 0.379666602803552, + "y": 0.3789876302083333, + "width": 0.058999996398926016, + "height": 0.10311111111111113 + } + ] + }, + "point_1767166079991": { + "type": "point", + "instances": [ + { + "id": "point_1767166079991_1767166197545_r7wfh18x3", + "x": 0.3986666016438841, + "y": 0.39498763020833333 + } + ] + }, + "point_1767166080189": { + "type": "point", + "instances": [ + { + "id": "point_1767166080189_1767166199819_c13tgati7", + "x": 0.43366659950765374, + "y": 0.41454318576388893 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左上方抬起爪夹，碰到铁架。", + "correction_plan": "下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹向爪夹方向的左上方抬起过多，所以紫色物体与蓝色容器距离拉远。", + "frame": 164, + "progress": 45, + "progress_explanation": "爪夹向爪夹方向的左上方抬起，导致紫色物体与蓝色容器距离拉远。因此进度下降至45%", + "state_description": "当前爪夹合拢，与蓝色容器的垂直距离拉远。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：向爪夹方向的前方移动，直至紫色玩具处于蓝色容器正上方。", + "time": 5.467444667143034, + "annotations": { + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166210477_r7jf358s1", + "x": 0.23566661159261404, + "y": 0.4927654079861111, + "width": 0.17399998937988342, + "height": 0.43377777777777776 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动并向前微微移动。", + "correction_plan": "下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹成功将紫色玩具向爪夹方向的前下方移动到了蓝色容器的正上方。", + "frame": 193, + "progress": 60, + "progress_explanation": "爪夹夹住紫色玩具向爪夹方向的下方下降，同时微微向前移动至蓝色容器正上方。因此进度提升至60%", + "state_description": "当前爪夹合拢，位于蓝色容器上方。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：下降将紫色玩具放入蓝色容器，随后松开并抬起爪夹。", + "time": 6.443664500561868, + "annotations": { + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166216111_i2xcajy36", + "x": 0.2656666097615594, + "y": 0.48209874131944447, + "width": 0.09799999401855505, + "height": 0.27733333333333327 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "爪夹成功向爪夹方向的下前方移动至蓝色容器正上方，接着继续下降将紫色玩具放入蓝色容器中。", + "frame": 223, + "progress": 80, + "progress_explanation": "爪夹夹住紫色玩具下降将紫色玩具放入蓝色容器中。因此进度提升至80%", + "state_description": "当前爪夹合拢，爪夹位于蓝色容器中。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "time": 7.438303576120681 + }, + { + "action_description": "爪夹张开并抬起。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将紫色玩具移动至蓝色容器中", + "frame": 265, + "progress": 100, + "progress_explanation": "紫色玩具已经落入蓝色容器中。因此进度提升至100%", + "state_description": "当前爪夹张开，紫色玩具位于蓝色容器中。已完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务。", + "time": 8.828956357689023, + "annotations": { + "bbox_1767166079291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079291_1767166225025_wfl8126wt", + "x": 0.27666660909017277, + "y": 0.7007654079861111, + "width": 0.15699999041748097, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166231375_ao7in7m8e", + "x": 0.31466660677083697, + "y": 0.7754320746527779, + "width": 0.0639999960937502, + "height": 0.10844444444444434 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767166079157", + "name": "紫色玩具", + "color": "#4CAF50" + }, + { + "id": "bbox_1767166079291", + "name": "蓝色容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767166079991", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767166080189", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json new file mode 100644 index 0000000000000000000000000000000000000000..52145cc3dbe09344965a68839f50957d78075cfa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json @@ -0,0 +1,347 @@ +{ + "task_description": "将玉米棒子移动到桌子右下方：\n爪夹开始移动：0%\n爪夹靠近玉米棒子：20%\n爪夹抓取玉米棒子：40%\n爪夹抓住玉米棒子并向桌子右下方移动：60%\n爪夹将玉米棒子移动至桌子右下方的上方：80%\n爪夹松开，使玉米棒子放在桌子右下方：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的下方下降，随后向爪夹方向的左前方移动，移动至玉米棒子上方后，向爪夹方向的下方移动，合拢爪夹抓取玉米棒子，随后抬起爪夹，向爪夹方向的右方移动，移动至桌子右下方后，下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将玉米棒子移动到桌子右下方的任务应当：向爪夹方向的下方移动，随后向爪夹方向的左前方移动。", + "time": 1.9239397822173894, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168809869_a3uu1jb7c", + "x": 0.42666659993489986, + "y": 0.7309876302083335, + "width": 0.03599999780273446, + "height": 0.13333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "向爪夹方向的左前方移动，移动至玉米棒子上方后，向爪夹方向的下方移动，合拢爪夹抓取玉米棒子，随后抬起爪夹，向爪夹方向的右方移动，移动至桌子右下方后，下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，垂直方向上成功接近玉米棒子，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 116, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上接近玉米棒子，因此进度提升为10%。", + "state_description": "当前爪夹张开，与玉米棒的子垂直距离拉近。\n为完成将玉米棒子移动到桌子右下方的任务应当：向爪夹方向的左前方移动，移动至玉米棒子上方。", + "time": 3.8517746557579016, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168818039_ynl183ikq", + 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"当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到玉米棒子。\n为完成将玉米棒子移动到桌子右下方的任务应当：抬起爪夹，向爪夹方向的右方移动，移动至桌子右下方。", + "time": 6.223595742598654, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168849115_9wd1mafcx", + "x": 0.42166660024007563, + "y": 0.7363209635416667, + "width": 0.04499999725341812, + "height": 0.11022222222222224 + } + ] + }, + "point_1767168779687": { + "type": "point", + "instances": [ + { + "id": "point_1767168779687_1767168851203_6ovzvzuaf", + "x": 0.4236666001180053, + "y": 0.805654296875 + } + ] + }, + "point_1767168779818": { + "type": "point", + "instances": [ + { + "id": "point_1767168779818_1767168853002_vorz7o8ha", + "x": 0.4536665982869508, + "y": 0.7825431857638889 + } + ] + } + } + }, + { + "action_description": "爪夹抓住玉米棒子后竖直上升，向夹爪方向的右方移动。", + "correction_plan": "向爪夹方向的右方移动，移动至桌子右下方后，下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "爪夹已经抓取到玉米棒子，并且在向着桌子右下方向移动。", + "frame": 212, + "progress": 60, + "progress_explanation": "当前爪夹已抓住玉米棒子并抬起爪夹，并在水平方向上逐渐接近桌子右下方，因此进度提升至60%。", + "state_description": "当前爪夹合拢抓住玉米棒子，垂直于桌面。\n为完成将玉米棒子移动到桌子右下方的任务应当：向爪夹方向的右方移动，移动至桌子右下方后。", + "time": 7.053148930606995, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168859065_x1bzb5hmn", + "x": 0.4276665998738647, + "y": 0.6420987413194444, + "width": 0.03999999755859394, + "height": 0.12088888888888892 + } + ] + }, + "point_1767168779687": { + "type": "point", + "instances": [ + { + "id": "point_1767168779687_1767168860723_sq1rnl4ag", + "x": 0.4296665997517944, + "y": 0.7132098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。", + "correction_plan": "下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "爪夹已经抓取到玉米棒子，并向爪夹方向的右后方移动到了桌子右下角的正上方。", + "frame": 249, + "progress": 80, + "progress_explanation": "爪夹夹住玉米棒子并向爪夹方向的右后方移动至桌子右下角的正上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，已经移动至桌子右下方的上方。\n为完成将玉米棒子移动到桌子右下方的任务应当：下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹。", + "time": 8.303320636478722, + "annotations": { + "point_1767168779687": { + "type": "point", + "instances": [ + { + "id": "point_1767168779687_1767168865472_9kmpmtj44", + "x": 0.6136665885213264, + "y": 0.6118765190972222 + } + ] + }, + "point_1767168779818": { + "type": "point", + "instances": [ + { + "id": "point_1767168779818_1767168867737_xbi4ts5en", + "x": 0.642666586751307, + "y": 0.6225431857638889 + } + ] + }, + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168872181_mb1fv9yk2", + "x": 0.6186665882161506, + "y": 0.558543185763889, + "width": 0.020999998718261727, + "height": 0.1066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "爪夹成功向爪夹方向的下方移动至桌面上，成功拉近玉米棒子与桌面的垂直距离。", + "frame": 300, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的下方下降，使玉米棒子与桌面的垂直距离拉近。因此进度提升至90%", + "state_description": "当前爪夹合拢，玉米棒子与桌面的垂直距离拉近。\n为完成将玉米棒子移动到桌子右下方的任务应当：松开爪夹，使玉米棒子落至桌子右下方。", + "time": 9.98579470793226, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168900209_vpkpl62kv", + "x": 0.6136665885213264, + "y": 0.6385431857638889, + "width": 0.030999998107910275, + "height": 0.09422222222222226 + } + ] + }, + "point_1767168779687": { + "type": "point", + "instances": [ + { + "id": "point_1767168779687_1767168902858_to5ea3a1k", + "x": 0.6166665883382209, + "y": 0.6865431857638888 + } + ] + }, + "point_1767168779818": { + "type": "point", + "instances": [ + { + "id": "point_1767168779818_1767168913364_relsc5alz", + "x": 0.641666586812342, + "y": 0.6954320746527778 + } + ] + } + } + }, + { + "action_description": "爪夹张开，玉米棒子落在桌面右下方。", + "correction_plan": "", + "error_success_analysis": "爪夹成功就将玉米棒子放在桌子右下方。", + "frame": 319, + "progress": 100, + "progress_explanation": "爪夹已经将玉米棒子放在桌子右下方。因此进度提升至100%", + "state_description": "当前爪夹张开，玉米棒子已落在桌子右下方。已完成将玉米棒子移动到桌子右下方的任务。", + "time": 10.628406332445763, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168920422_l1hpyabjf", + "x": 0.6166665883382209, + "y": 0.6545431857638889, + "width": 0.0249999984741212, + "height": 0.08711111111111107 + } + ] + }, + "point_1767168779687": { + "type": "point", + "instances": [ + { + "id": "point_1767168779687_1767168923037_4c327m095", + "x": 0.5996665893758185, + "y": 0.6545431857638889 + } + ] + }, + "point_1767168779818": { + "type": "point", + "instances": [ + { + "id": "point_1767168779818_1767168924985_bt6yhi6ow", + "x": 0.6626665855306039, + "y": 0.6865431857638888 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767168779031", + "name": "玉米棒子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767168779687", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767168779818", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json new file mode 100644 index 0000000000000000000000000000000000000000..f9dcbf30528c685c0bee7cb555b280159aad6e7f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json @@ -0,0 +1,306 @@ +{ + "task_description": "移动爪夹，将纸移动至杯子的右后方：\n爪夹开始移动：0%\n爪夹靠近纸张：30%\n爪夹抵住纸张：60%\n爪夹抵住纸张向左后方移动：80%\n爪夹抵住纸张移动至杯子右下方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，同时下降爪夹，到达纸张正上方后下降，抵住纸张后，向爪夹方向的左后方拖动纸张，随后向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "", + "frame": 41, + "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。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：向爪夹方向的右前方移动，同时下降爪夹。", + "time": 1.3751423846697064, + "annotations": { + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767170898363_ybdkqaowk", + "x": 0.281666608784997, + "y": 0.29187651909722223, + "width": 0.05999999633789081, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767170903032_626yulbiz", + "x": 0.48166659657796657, + "y": 0.31676540798611114, + "width": 0.11899999273681665, + "height": 0.16533333333333333 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170919811_xht1777b7", + "x": 0.022666624593101526, + "y": 0.38609874131944444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "继续向爪夹方向的右前方移动，同时下降爪夹，到达纸张正上方后下降，抵住纸张后，向爪夹方向的左后方拖动纸张，随后向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "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纸张。", + "frame": 88, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近纸张，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与纸张的水平距离拉近。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：继续向爪夹方向的右前方移动，同时下降爪夹。", + "time": 2.9411216356183774, + "annotations": { + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170923626_6kow5v99w", + "x": 0.44266659895833743, + "y": 0.32565429687499997 + } + ] + }, + "point_1767170882885": { + "type": "point", + "instances": [ + { + "id": "point_1767170882885_1767170926310_0xau8czaz", + "x": 0.3766666029866575, + "y": 0.32209874131944444 + } + ] + }, + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767170929598_5xrvhcghs", + "x": 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+ } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "爪夹已经抵住纸张，并向着杯子的右下方移动。", + "frame": 285, + "progress": 80, + "progress_explanation": "爪夹抵住纸张向爪夹方向的左后方移动，使纸张与杯子右下方的水平距离拉近。因此进度提升至80%", + "state_description": "当前爪夹合拢，纸张与杯子右下方的水平距离拉近。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：向爪夹方向的左方拖动纸张，使纸张移动至杯子右下方。", + "time": 9.508131397661197, + "annotations": { + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170995734_k1ykpm4h5", + "x": 0.4956665957234743, + "y": 0.4945431857638889 + } + ] + }, + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171001226_873v94ksu", + "x": 0.4276665998738647, + "y": 0.357654296875, + "width": 0.16599998986816472, + "height": 0.19377777777777783 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "correction_plan": "继续向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "爪夹已经抵住纸张，并向着杯子的右下方移动，成功拉近与杯子右下方的水平距离。", + "frame": 348, + "progress": 90, + "progress_explanation": "爪夹抵住纸张向爪夹方向的左方移动，使纸张与杯子右下方的水平距离进一步拉近。因此进度提升至90%", + "state_description": "当前爪夹合拢，位于纸张上。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：继续向爪夹方向的左方拖动纸张，使纸张移动至杯子右下方。", + "time": 11.612942218828765, + "annotations": { + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171011508_puuknfxfw", + "x": 0.3816666026814818, + "y": 0.3754320746527778, + "width": 0.1739999893798835, + "height": 0.14044444444444446 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767171020456_a7ex0i23w", + "x": 0.4296665997517944, + "y": 0.4732098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将纸张移动至杯子右下方。", + "frame": 398, + "progress": 100, + "progress_explanation": "纸张已移动至杯子右下方。因此进度提升至100%", + "state_description": "当前爪夹垂直于纸张上方，纸张已移动至杯子的右后方。已完成移动爪夹，将纸移动至杯子的右后方的任务。", + "time": 13.263113902624141, + "annotations": { + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171025836_lqqvfx8ap", + "x": 0.30666660725911815, + "y": 0.39320985243055556, + "width": 0.1999999877929695, + "height": 0.12444444444444448 + } + ] + }, + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767171031164_rj9ariion", + "x": 0.2836666086629267, + "y": 0.2847654079861111, + "width": 0.048999997009277506, + "height": 0.13866666666666666 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767171034524_ifeb2sdxn", + "x": 0.3626666038411496, + "y": 0.45009874131944444 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767170882247", + "name": "杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767170882347", + "name": "纸张", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767170882885", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767170882990", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009091.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009091.json new file mode 100644 index 0000000000000000000000000000000000000000..5563bd4ac13b3e20062a2d0920dd438425546036 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009091.json @@ -0,0 +1,438 @@ +{ + "task_description": "将黑色钢笔放在两个台面垃圾桶之间：\n爪夹开始移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓住黑色钢笔向两个垃圾桶中移动：60%\n爪夹将黑色钢笔移动至两个垃圾桶中间的上方：80%\n爪夹松开，使黑色钢笔落到两个垃圾桶中间：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达黑色钢笔正上方后继续下降，合拢爪夹抓取黑色钢笔后竖直上升，向爪夹方向的右方移动，直至黑色钢笔处于两个垃圾桶中的上方。向爪夹方向的下方移动，松开爪夹，使黑色钢笔落到两个垃圾桶中间。", + "error_success_analysis": "", + "frame": 14, + "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。\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，向爪夹方向的左前方移动至黑色钢笔的正上方。", + "time": 0.46872812369572764, + "annotations": { + "bbox_1767172551220": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172551220_1767172622359_pgutbsdfq", + "x": 0.491666595967615, + "y": 0.5460987413194445, + "width": 0.2809999828491221, + "height": 0.17599999999999996 + } + ] + }, + "bbox_1767172552621": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172552621_1767172631965_4zkht47r4", + "x": 0.46466659761556406, + "y": 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"下降合拢爪夹，抓取黑色钢笔后竖直上升，向爪夹方向的右方移动，直至黑色钢笔处于两个垃圾桶中的上方。向爪夹方向的下方移动，松开爪夹，使黑色钢笔落到两个垃圾桶中间。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，并且已经移动到了黑色钢笔的上方，方便抓取。", + "frame": 86, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑色钢笔上方，已接近黑色钢笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，位于黑色钢笔上方。\n为完成将黑色钢笔放在两个台面垃圾桶之间的任务应当：下降合拢爪夹，抓取黑色钢笔后竖直上升。", + "time": 2.881923848139255, + "annotations": { + "point_1767172553415": { + "type": "point", + "instances": [ + { + "id": "point_1767172553415_1767172688949_f2okk252s", + "x": 0.4966665956624392, + "y": 0.581654296875 + } + ] + }, + "point_1767172553291": { + "type": "point", + "instances": [ + { + "id": "point_1767172553291_1767172691322_q104int8d", + "x": 0.4666665974934937, + "y": 0.5692098524305556 + } + ] + }, + "bbox_1767172552621": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172552621_1767172696631_z2k6jymdy", + "x": 0.46266659773763436, + "y": 0.5994320746527778, + "width": 0.03399999792480486, + "height": 0.040888888888888884 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"当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到黑色钢笔。\n为完成将黑色钢笔放在两个台面垃圾桶之间的任务应当：抓取黑色钢笔后竖直上升，向爪夹方向的右方移动。", + "time": 5.022954641254566, + "annotations": { + "bbox_1767172551220": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172551220_1767172734109_r0dlej9it", + "x": 0.4926665959065798, + "y": 0.5443209635416667, + "width": 0.28199998278808697, + "height": 0.17777777777777787 + } + ] + }, + "bbox_1767172552621": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172552621_1767172743085_xkqsuaszz", + "x": 0.4696665973103883, + "y": 0.6047654079861111, + "width": 0.022999998596191507, + "height": 0.03377777777777777 + } + ] + }, + "point_1767172553291": { + "type": "point", + "instances": [ + { + "id": "point_1767172553291_1767172745383_pzm4bxhx8", + "x": 0.48666659627279074, + "y": 0.6029876302083333 + } + ] + }, + "point_1767172553415": { + "type": "point", + "instances": [ + { + "id": "point_1767172553415_1767172747623_ilixmnpks", + "x": 0.4926665959065798, + "y": 0.6012098524305556 + } 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"action_description": "爪夹向爪夹方向的右方移动并下降。", + "correction_plan": "向爪夹方向的下方移动，松开爪夹，使黑色钢笔落到两个垃圾桶中间。", + "error_success_analysis": "爪夹成功移动两个垃圾桶中间，开始下降将黑色钢笔放在两个黑色垃圾桶中间。", + "frame": 214, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，黑色钢笔已经移动至两个垃圾桶中间的上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，移动至两个垃圾桶中间的上方。\n为完成将黑色钢笔放在两个台面垃圾桶之间的任务应当：向爪夹方向的下方移动，随后松开爪夹。", + "time": 7.145841105614663, + "annotations": { + "bbox_1767172552621": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172552621_1767172778128_kr9mibvoo", + "x": 0.5876665901082403, + "y": 0.5869876302083333, + "width": 0.05499999664306658, + "height": 0.040888888888888884 + } + ] + }, + "point_1767172553415": { + "type": "point", + "instances": [ + { + "id": "point_1767172553415_1767172781929_zq5covxw0", + "x": 0.6246665878499397, + "y": 0.6012098524305556 + } + ] + }, + "bbox_1767172551220": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172551220_1767172788859_6in51bxig", + "x": 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"error_success_analysis": "爪夹成功拉近与蓝色蜡笔的垂直距离。", + "frame": 59, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向的下方移动，与蓝色蜡笔的垂直距离拉近，因此进度提升至10%", + "state_description": "当前状态为爪夹打开，与蓝色蜡笔的垂直距离拉近。\n为完成拿起蓝色蜡笔，把它放进可密封的塑料袋里的任务应当：继续向爪夹方向的前下方移动，到达蓝色蜡笔正上方后下降。", + "time": 1.972782575609183, + "annotations": { + "point_1767493477410": { + "type": "point", + "instances": [ + { + "id": "point_1767493477410_1767493525213_4wx01pzmb", + "x": 0.3976666017049193, + "y": 0.8109876302083333 + } + ] + }, + "point_1767493477281": { + "type": "point", + "instances": [ + { + "id": "point_1767493477281_1767493527645_e8m9y8b8z", + "x": 0.3366666054280636, + "y": 0.7469876302083334 + } + ] + }, + "bbox_1767493476578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767493476578_1767493532883_kfw6n81bm", + "x": 0.36966660341390356, + "y": 0.8714320746527778, + "width": 0.05999999633789081, + "height": 0.07466666666666666 + } + ] + }, + "bbox_1767493476441": { + "type": "bbox", + "instances": [ + { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009517.json @@ -0,0 +1,418 @@ +{ + "task_description": "将绿色圆柱体向桌子的右上方移动：\n爪夹开始移动：0%\n爪夹靠近绿色圆柱体：20%\n爪夹抓取绿色圆柱体：40%\n爪夹抓住绿色圆柱体移动至桌子的右上方：70%\n爪夹松开，使绿色圆柱体放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达绿色圆柱体正上方后，下降抓取绿色圆柱体，向爪夹方向的上方抬起爪夹，随后向爪夹方向的右前方移动，移动至桌面右上方后，向爪夹方向的下方移动，随后张开爪夹，使绿色圆柱体放在桌面上。", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的前方移动并下降，到达绿色圆柱体正上方。", + "time": 2.5517978483987496, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495605252_bb1oxkenp", + "x": 0.31166660695394244, + "y": 0.1887654079861111, + "width": 0.5249999679565449, + "height": 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"当前爪夹合拢，抓住绿色圆柱体。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的上方抬起爪夹，随后向爪夹方向的右前方移动。 ", + "time": 5.848979870827595, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495669364_97w59i0vn", + "x": 0.31166660695394244, + "y": 0.22609874131944446, + "width": 0.5179999683837908, + "height": 0.7288888888888888 + } + ] + }, + "point_1767495585790": { + "type": "point", + "instances": [ + { + "id": "point_1767495585790_1767495674244_rgtwqviko", + "x": 0.6236665879109748, + "y": 0.5549876302083334 + } + ] + }, + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495678266_0u6hmcqu3", + "x": 0.6236665879109748, + "y": 0.48209874131944447, + "width": 0.028999998229980582, + "height": 0.09955555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹合拢并向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的右前方移动，移动至桌面右上方后，向爪夹方向的下方移动，随后张开爪夹，使绿色圆柱体放在桌面上。", + "error_success_analysis": "爪夹已经抓取到绿色圆柱体，向爪夹方向的上方抬起。", + "frame": 199, + "progress": 50, + "progress_explanation": "当前爪夹已抓住绿色圆柱体并抬起爪夹，因此进度提升至50%。", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的右前方移动，移动至桌面右上方后。 ", + "time": 6.647605274184063, + "annotations": { + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495684192_qj2uymvn9", + "x": 0.6196665881551154, + "y": 0.38609874131944444, + "width": 0.028999998229980582, + "height": 0.1137777777777778 + } + ] + }, + "point_1767495585790": { + "type": "point", + "instances": [ + { + "id": "point_1767495585790_1767495687046_cgtwn85dn", + "x": 0.6176665882771857, + "y": 0.4732098524305556 + } + ] + }, + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495693060_5k1xrz5kv", + "x": 0.31166660695394244, + "y": 0.20832096354166668, + "width": 0.5259999678955098, + "height": 0.7537777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪甲方向的右前方移动。", + "correction_plan": "向爪夹方向的下方移动，随后张开爪夹，使绿色圆柱体放在桌面上。", + "error_success_analysis": "爪夹已经抓取到绿色圆柱体，并移动到了桌子的右上方。", + "frame": 220, + "progress": 70, + "progress_explanation": "爪夹夹住绿色圆柱体，向爪夹方向的右前方移动至桌子的右上方。因此进度提升至70%", + "state_description": "当前爪夹合拢，垂直于桌子的右上方。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的右前方移动，移动至桌面右上方后。 ", + "time": 7.343550268537556, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495698682_52vvst5ox", + "x": 0.3106666070149776, + "y": 0.19409874131944443, + "width": 0.5269999678344746, + "height": 0.7662222222222224 + } + ] + }, + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495707177_m611837pp", + "x": 0.6166665883382209, + "y": 0.17987651909722224, + "width": 0.03599999780273455, + "height": 0.1262222222222222 + } + ] + }, + "point_1767495585790": { + "type": "point", + "instances": [ + { + "id": "point_1767495585790_1767495709181_w189dmx8u", + "x": 0.6146665884602911, + "y": 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} + ], + "point_targets": [ + { + "id": "point_1767495585790", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767495585916", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b52bd93dcf0f2bd184285bd7a23e535c988df8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json @@ -0,0 +1,375 @@ +{ + "task_description": "将米白色小装置向右移动：\n爪夹开始移动：0%\n爪夹靠近米白色小装置：30%\n爪夹抓取米白色小装置：50%\n爪夹抓住米白色小装置并向米白色小装置右方移动：80%\n爪夹将米白色小装置移动至米白色小装置右方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降，合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "", + "frame": 32, + "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。\n为完成将米白色小装置向右移动的任务应当：向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降。", + "time": 1.0510872899264752, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498247502_tms55ia62", + "x": 0.6196665881551154, + "y": 0.6189876302083334, + "width": 0.043999997314453324, + "height": 0.056888888888888864 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498249949_2ixqpen9a", + "x": 0.4986665955403689, + "y": 0.5869876302083333 + } + ] + }, + "point_1767498230841": { + "type": "point", + "instances": [ + { + "id": "point_1767498230841_1767498252221_d0qhhlzk4", + "x": 0.4776665968221071, + "y": 0.5389876302083333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时下降爪夹。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降，合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "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米白色小装置。", + "frame": 103, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近米白色小装置，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面上方。\n为完成将米白色小装置向右移动的任务应当：继续向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降。", + "time": 3.431293285517975, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498258791_l9xyrs9ei", + "x": 0.6176665882771857, + "y": 0.6189876302083334, + "width": 0.0499999969482424, + "height": 0.06044444444444442 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498261221_6qnnh6310", + "x": 0.6016665892537482, + "y": 0.5869876302083333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，并且已经移动到了米白色小装置的正上方，方便抓取。", + "frame": 165, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于米白色小装置正上方，已接近米白色小装置，因此进度提升为30%。", + "state_description": "当前爪夹打开，垂直于米白色小装置上方。\n为完成将米白色小装置向右移动的任务应当：下降合拢爪夹抓取米白色小装置，随后向爪夹方向的右方移动。", + "time": 5.48600102530209, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498267126_pozpapt76", + "x": 0.6196665881551154, + "y": 0.6172098524305555, + "width": 0.04599999719238301, + "height": 0.06400000000000006 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498269007_lcz81ro2j", + "x": 0.6436665866902718, + "y": 0.6243209635416667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹已成功下降，位于米白色小装置两侧，方便抓取米白色小装置。", + "frame": 223, + "progress": 40, + "progress_explanation": "爪夹下降，与米白色小装置垂直距离进一步拉近。因此进度提升至40%", + "state_description": "当前爪夹张开，位于米白色小装置两侧。\n为完成将米白色小装置向右移动的任务应当：合拢爪夹抓取米白色小装置，随后向爪夹方向的右方移动。", + "time": 7.418646919158436, + "annotations": { + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498271527_hv5gl4hh6", + "x": 0.635666587178553, + "y": 0.645654296875 + } + ] + }, + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498277231_afadao3l9", + "x": 0.6216665880330451, + "y": 0.6207654079861111, + "width": 0.04299999737548843, + "height": 0.06222222222222224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方轻微移动，同时合拢爪夹。", + "correction_plan": "向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹成功移动至米白色小装置正上方，爪夹向爪夹的下方移动，并成功抓取到米白色小装置。", + "frame": 263, + "progress": 50, + "progress_explanation": "当前爪夹已抓取到米白色小装置，因此进度提升为50%。", + "state_description": "当前爪夹合拢，抓住米白色小装置。\n为完成将米白色小装置向右移动的任务应当：向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方。", + "time": 8.761327224363898, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498281820_vmz51gu1u", + "x": 0.62266658797201, + "y": 0.6189876302083334, + "width": 0.04599999719238292, + "height": 0.06755555555555554 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498284205_ne5y0yb3y", + "x": 0.6466665865071664, + "y": 0.6545431857638889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹开始将米白色小装置向米白色小装置的右方移动。", + "frame": 332, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右方移动，将米白色小装置向爪夹方向的右方轻微移动。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于桌面上。\n为完成将米白色小装置向右移动的任务应当：继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方。", + "time": 11.080502296991513, + "annotations": { + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498287619_k7kwokmoa", + "x": 0.6496665863240608, + "y": 0.677654296875 + } + ] + }, + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498291314_fw0m03zxi", + "x": 0.6316665874226935, + "y": 0.6349876302083334, + "width": 0.04099999749755874, + "height": 0.0657777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动，随后张开爪夹。", + "correction_plan": "重新合拢爪夹，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹移动方向错误并张开爪夹，使爪夹松开米白色小装置。", + "frame": 409, + "progress": 40, + "progress_explanation": "爪夹张开，松开米白色小装置，因此进度下降至40%", + "state_description": "当前爪夹张开，松开米白色小装置。\n为完成将米白色小装置向右移动的任务应当：重新合拢爪夹，向爪夹方向的右方移动。", + "time": 13.643801061474669, + "annotations": { + "bbox_1767498230089": { + 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"tags": [], + "bbox_targets": [ + { + "id": "bbox_1767498230089", + "name": "米白色小装置", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767498230841", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767498230959", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json new file mode 100644 index 0000000000000000000000000000000000000000..fd21b468995f7ded9cf98776adbfd66f373a5fd7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json @@ -0,0 +1,2050 @@ +{ + "task_description": "将桌子上的东西移到黑布的左下角：\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹抓取第一根白色绳子放在黑布的左下角：25%\n爪夹抓取白色毛巾放在黑布的左下角：40%\n爪夹抓取绿色毛巾放在黑布的左下角：55%\n爪夹抓取第二根白色绳子放在黑布的左下角：70%\n爪夹抓取橘色布偶放在黑布的左下角：85%\n爪夹抓取米白色衣服放在黑布的左下角：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1767515010769": { + "instances": [ + { + "height": 0.7431111111111111, + "id": "bbox_1767515010769_1767515095280_0xp9fdjct", + "width": 0.7449999545288113, + "x": 0.25366661049398126, + "y": 0.229654296875 + } + ], + "type": "bbox" + }, + "bbox_1767515011070": { + "instances": [ + { + "height": 0.4124444444444445, + "id": "bbox_1767515011070_1767515222114_ncrelbvnf", + "width": 0.3589999780883802, + "x": 0.4396665991414429, + "y": 0.4660987413194445 + } + ], + "type": "bbox" + }, + "point_1767515015482": { + "instances": [ + { + "id": "point_1767515015482_1767515103856_zeepzq7hg", + "x": 0.4416665990193726, + "y": 0.6509876302083334 + } + ], + "type": "point" + }, + "point_1767515015618": { + "instances": [ + { 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+ } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767515015482", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767515015618", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009592.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009592.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd3772ac6d778833fbe39308fcf0e71b476d26d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009592.json @@ -0,0 +1,377 @@ +{ + "task_description": "将记号笔向右后方移动：\n爪夹开始移动：0%\n爪夹靠近记号笔：30%\n爪夹抓取记号笔：50%\n爪夹抓住记号笔并向右后方移动：70%\n爪夹将记号笔移动至记号笔原先位置的右后方：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下方移动，到达记号笔正上方后下降，抓取记号笔后抬起，向爪夹方向的右后方移动，移动至记号笔原先位置的右后方，随后张开爪夹。", + "error_success_analysis": "", + "frame": 27, + "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。\n为完成将记号笔向右后方移动的任务应当：调整爪夹角度，使其垂直于桌面，向爪夹方向的左下方移动。", + "time": 0.9137222918786564, + "annotations": { + "bbox_1767519733211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767519733211_1767519752251_9rc2qh5or", + "x": 0.5726665910237676, + "y": 0.41632096354166664, + "width": 0.0789999951782229, + "height": 0.2097777777777778 + } + ] + }, + "point_1767519733675": { + "type": "point", + "instances": [ + { + "id": "point_1767519733675_1767519756058_yukuw5qig", + "x": 0.4526665983479859, + "y": 0.6367654079861111 + } + ] + }, + "point_1767519737029": { + "type": "point", + "instances": [ + { + "id": "point_1767519737029_1767519758797_qutqg2r9w", + "x": 0.7676665791219128, + "y": 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0000000000000000000000000000000000000000..eec77db91c13197d63c5e736bd83690f68218561 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009672.json @@ -0,0 +1,377 @@ +{ + "task_description": "将白色杯子向右前方移动：\n爪夹开始移动：0%\n爪夹靠近白色杯子：30%\n爪夹抓取白色杯子：50%\n爪夹抓住白色杯子向白色杯子原本位置的右前方移动：70%\n爪夹将白色杯子放至白色杯子原本位置的右前方：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下方移动，到达白色杯子的正上方后下降，抓取白色杯子后上升，向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方，随后张开爪夹。", + "error_success_analysis": "", + "frame": 15, + "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。\n为完成将白色杯子向右前方移动的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动。", + "time": 0.5051539781611191, + "annotations": { + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578258617_c9gb6th79", + "x": 0.5066665950520877, + "y": 0.5443209635416667, + "width": 0.09299999432373074, + "height": 0.20977777777777765 + } + ] + }, + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578267532_easaywqao", + "x": 0.45966659792073983, + "y": 0.6385431857638889 + } + ] + }, + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578269735_ed1kn6723", + "x": 0.7726665788167371, + "y": 0.6438765190972222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，同时调整爪夹方向。", + "correction_plan": "继续向爪夹方向的左下方移动并调整爪夹角度，到达白色杯子的正上方后下降，抓取白色杯子后上升，向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方，随后张开爪夹。", + "error_success_analysis": "爪夹成功拉近与白色杯子的垂直距离。", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的左下方移动，与白色杯子的垂直距离拉近。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，与白色杯子的垂直距离拉近。\n为完成将白色杯子向右前方移动的任务应当：继续向爪夹方向的左下方移动并调整爪夹角度。", + "time": 2.0515456334350817, + "annotations": { + "bbox_1767578235055": { + "type": "bbox", + 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"当前爪夹张开，垂直于杯子中。\n为完成将白色杯子向右前方移动的任务应当：合拢爪夹抓取白色杯子后上升，向爪夹方向的右后方移动。", + "time": 5.778349522645331, + "annotations": { + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578310201_piiz42i42", + "x": 0.7746665786946668, + "y": 0.6509876302083334 + } + ] + }, + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578312741_pjwjytmy9", + "x": 0.4576665980428102, + "y": 0.6527654079861112 + } + ] + }, + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578317463_p5zygojxe", + "x": 0.2476666108601922, + "y": 0.23498763020833333, + "width": 0.3679999775390638, + "height": 0.6293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取白色杯子。", + "correction_plan": "抓取白色杯子后上升，向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方，随后张开爪夹。", + "error_success_analysis": "爪夹成功移动至白色杯子正上方，爪夹向爪夹的下方移动，并成功抓取到白色杯子。", + "frame": 210, + "progress": 50, + "progress_explanation": "当前爪夹已抓取到白色杯子，因此进度提升为50%。", + "state_description": "当前爪夹合拢，抓住白色杯子。\n为完成将白色杯子向右前方移动的任务应当：抓取白色杯子后上升，向爪夹方向的右后方移动。", + "time": 7.0154628468645015, + "annotations": { + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578330187_4rn2q0m65", + "x": 0.2636666098836297, + "y": 0.2580987413194445, + "width": 0.39099997613525533, + "height": 0.7093333333333334 + } + ] + }, + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578338626_7e44bfzzn", + "x": 0.5836665903523809, + "y": 0.5620987413194445 + } + ] + }, + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578349619_yul4fx1kd", + "x": 0.6386665869954475, + "y": 0.5460987413194445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，同时抬起爪夹。", + "correction_plan": "继续向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方，随后张开爪夹。", + "error_success_analysis": "爪夹抓住白色杯子向爪夹方向的右后方移动，成功开始将白色杯子向杯子的右方移动。", + "frame": 256, + "progress": 70, + "progress_explanation": "爪夹抓住白色杯子向爪夹方向的左后方移动，开始将白色杯子向白色杯子原本位置的右方移动。因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住杯子垂直于桌面。\n为完成将白色杯子向右前方移动的任务应当：继续向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方。", + "time": 8.546390585585725, + "annotations": { + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578353377_hujak7aq8", + "x": 0.642666586751307, + "y": 0.558543185763889 + } + ] + }, + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578355559_3eliin01d", + "x": 0.5816665904744512, + "y": 0.5549876302083334 + } + ] + }, + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578358539_hn40kyjjk", + "x": 0.2616666100057, + "y": 0.25809874131944444, + "width": 0.39299997601318515, + "height": 0.7128888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "张开爪夹，使白色杯子落在桌面上。", + "error_success_analysis": "爪夹成功将白色杯子移动至白色杯子的右前方。", + "frame": 311, + "progress": 90, + "progress_explanation": "当前爪夹已将白色杯子移动至白色杯子的右前方。因此进度提升至90%", + "state_description": "当前爪夹合拢，抓住杯子垂直于桌面。\n为完成将白色杯子向右前方移动的任务应当：张开爪夹，使白色杯子落在桌面上。", + "time": 10.355668822256261, + "annotations": { + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578379597_vtyolcbap", + "x": 0.5846665902913457, + "y": 0.5674320746527778 + } + ] + }, + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578381173_rmlwx3av2", + "x": 0.6476665864461311, + "y": 0.558543185763889 + } + ] + }, + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578383937_sd06ti31m", + "x": 0.2716666093953485, + "y": 0.25276540798611113, + "width": 0.3739999771728529, + "height": 0.7022222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，随后张开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将白色杯子向右前方移动并放下。", + "frame": 377, + "progress": 100, + "progress_explanation": "爪夹已经将白色杯子放至白色杯子原本位置的右前方。因此进度提升至100%", + "state_description": "当前爪夹张开，白色杯子落在桌面上。已完成将白色杯子向右前方移动的任务。", + "time": 12.551544972745287, + "annotations": { + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578399924_yh1jv1rbm", + "x": 0.28966660829671576, + "y": 0.2065431857638889, + "width": 0.37299997723388806, + "height": 0.6826666666666666 + } + ] + }, + "point_1767578235546": { + "type": "point", + "instances": [ + { + "id": "point_1767578235546_1767578407322_bmpg4dy5q", + "x": 0.5186665943196658, + "y": 0.565654296875 + } + ] + }, + "point_1767578235662": { + "type": "point", + "instances": [ + { + "id": "point_1767578235662_1767578415458_jcr5auimo", + "x": 0.7066665828450571, + "y": 0.558543185763889 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767578235055", + "name": "白色杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767578235546", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767578235662", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json new file mode 100644 index 0000000000000000000000000000000000000000..6aeec4644e30e1629b7035d591bce1d312a796c5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json @@ -0,0 +1,1690 @@ +{ + "task_description": "将玩具从橙色碗移到黑色锅，然后用玻璃锅盖盖住黑色锅；\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近玩具：20%\n爪夹抓取西兰花玩具：30\n爪夹将西兰花玩具放入黑色锅中：45\n爪夹抓住西红柿玩具：55\n爪夹将西红柿玩具放入黑色锅中：70\n爪夹抓住玻璃锅盖：80\n爪夹抓住玻璃锅盖盖住黑色锅：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1767592291512": { + "instances": [ + { + "height": 0.44622222222222224, + "id": "bbox_1767592291512_1767592353924_2z72gb51j", + "width": 0.2509999846801767, + "x": 0.5516665923055057, + "y": 0.3309876302083333 + } + ], + "type": "bbox" + }, + "bbox_1767592291653": { + "instances": [ + { + "height": 0.07466666666666666, + "id": "bbox_1767592291653_1767592366218_88g6ghvtb", + "width": 0.038999997619629044, + "x": 0.46066659785970465, + "y": 0.5069876302083334 + } + ], + "type": "bbox" + }, + "bbox_1767592291772": { + "instances": [ + { + "height": 0.08177777777777777, + "id": "bbox_1767592291772_1767592378917_d0ex6nefw", + "width": 0.04499999725341812, + "x": 0.4946665957845095, + "y": 0.5158765190972222 + } + ], + "type": "bbox" + 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"向下移动至圆盘上方，向下移动，合拢爪夹，夹住圆盘，向上移动，向左移动至左边，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近圆盘", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹接近圆盘，进度20%", + "state_description": "当前状态为爪夹接近圆盘\n为了完成把黑色圆盘移到左边的任务应当：向下移动至圆盘上方，向下移动，合拢爪夹，夹住圆盘。", + "time": 3.248567590504277, + "annotations": { + "bbox_1768471611538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768471611538_1768471647703_dkwf5dv01", + "x": 0.5763332778116895, + "y": 0.8545925835503473, + "width": 0.031999998046875075, + "height": 0.03022222222222221 + } + ] + }, + "point_1768471612304": { + "type": "point", + "instances": [ + { + "id": "point_1768471612304_1768471649462_rv4gkfrhm", + "x": 0.6613332726237016, + "y": 0.7852592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动并稍微向前移动", + "correction_plan": "向下移动，合拢爪夹，夹住圆盘，向上移动，向左移动至左边，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近圆盘", + "frame": 135, + "progress": 30, + "progress_explanation": "爪夹更加接近圆盘，进度30%", + "state_description": "当前状态为爪夹更加接近圆盘\n为了完成把黑色圆盘移到左边的任务应当：向下移动，合拢爪夹，夹住圆盘。", + "time": 4.513172290313199, + "annotations": { + "bbox_1768471611538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768471611538_1768471645318_zeooc9kjv", + "x": 0.586333277201338, + "y": 0.8279259168836806, + "width": 0.03299999798583997, + "height": 0.08355555555555567 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住圆盘，向上移动，向左移动至左边，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住圆盘", + "frame": 189, + "progress": 40, + "progress_explanation": "爪夹准备夹取圆盘，进度40%", + "state_description": "当前状态为爪夹准备夹取圆盘\n为了完成把黑色圆盘移到左边的任务应当：向下移动，合拢爪夹，夹住圆盘。", + "time": 6.300113713956241, + "annotations": { + "bbox_1768471611538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768471611538_1768471642262_39aytv0aj", + "x": 0.5743332779337599, + "y": 0.8581481391059027, + "width": 0.031999998046875075, + "height": 0.03911111111111122 + } + ] + } + } + }, + { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000403.json @@ -0,0 +1,345 @@ +{ + "task_description": "把笔从杯子里拿起来放在桌子上\n准备开始移动：0%\n接近笔：20%\n夹住笔：50%\n夹起笔：70%\n将笔夹至桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔，向上移动，向左侧移动至桌子上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把笔从杯子里拿起来放在桌子上的任务应当：向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔。", + "time": 0.6322792341435551, + "annotations": { + "bbox_1768528975285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768528975285_1768529109811_9we3240b6", + "x": 0.6063332759806349, + "y": 0.3461481391059028, + "width": 0.03499999786376966, + "height": 0.12088888888888888 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔，向上移动，向左侧移动至桌子上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功准备接近笔", + "frame": 43, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近笔\n为了完成把笔从杯子里拿起来放在桌子上的任务应当：向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔。", + "time": 1.4185334527114426, + "annotations": { + "bbox_1768528975285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768528975285_1768529104235_ppoui1hbu", + "x": 0.6063332759806349, + "y": 0.3354814724392361, + "width": 0.038999997619629044, + "height": 0.11733333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔，向上移动，向左侧移动至桌子上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功接近笔", + "frame": 74, + "progress": 20, + "progress_explanation": "爪夹接近笔，进度20%", + "state_description": "当前状态为爪夹接近笔\n为了完成把笔从杯子里拿起来放在桌子上的任务应当：向右侧移动至笔的上方，向下移动，合拢爪夹，夹住笔。", + "time": 2.4701484700459924, + "annotations": { + "point_1768528976337": { + "type": "point", + 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"type": "bbox", + "instances": [ + { + "id": "bbox_1768528975285_1768529051308_5kpnomg2y", + "x": 0.553333279215498, + "y": 0.3052592502170139, + "width": 0.04499999725341812, + "height": 0.11911111111111114 + } + ] + }, + "point_1768528976337": { + "type": "point", + "instances": [ + { + "id": "point_1768528976337_1768529054220_ulm1y1j3w", + "x": 0.6003332763468459, + "y": 0.3390370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将笔夹至桌子上", + "frame": 257, + "progress": 90, + "progress_explanation": "爪夹将笔放在桌子上，进度90%", + "state_description": "当前状态为爪夹将笔放在桌子上\n为了完成把笔从杯子里拿起来放在桌子上的任务应当：松开爪夹", + "time": 8.58327501941132, + "annotations": { + "point_1768528976337": { + "type": "point", + "instances": [ + { + "id": "point_1768528976337_1768529040828_swhf2z154", + "x": 0.5803332775675489, + "y": 0.45459258355034726 + } + ] + }, + "bbox_1768528975285": { + "type": "bbox", + "instances": [ + { + "id": 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"#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768528976337", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768528976797", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000678.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000678.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a84f5973da0ae7544cc5132d0f1c5b3c819ce2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000678.json @@ -0,0 +1,325 @@ +{ + "task_description": "移动面包毛绒玩具\n准备开始移动：0%\n接近面包：20%\n夹住面包：50%\n夹起面包：70%\n将面包夹至左边桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包，向上移动，向左侧移动，移动至桌子左边，向下移动，松开抓夹。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成移动面包毛绒玩具的任务应当：向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包。", + "time": 0.505108663985126, + "annotations": { + "bbox_1768535314294": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768535314294_1768535387117_xpp12d4ib", + "x": 0.7483332673136432, + "y": 0.47948147243923617, + "width": 0.055999996582031565, + "height": 0.0764444444444444 + } + ] + } + } + }, + { + "action_description": " 爪夹向前并向下移动", + "correction_plan": "向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包，向上移动，向左侧移动，移动至桌子左边，向下移动，松开抓夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 31, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近面包\n为了完成移动面包毛绒玩具的任务应当：向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包。", + "time": 1.0442151847021872, + "annotations": { + "bbox_1768535314294": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768535314294_1768535383916_2lvap841a", + "x": 0.7533332670084676, + "y": 0.4759259168836806, + "width": 0.06799999584960954, + "height": 0.0711111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包，向上移动，向左侧移动，移动至桌子左边，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近面包", + "frame": 50, + "progress": 20, + "progress_explanation": "爪夹接近面包，进度20%", + "state_description": "当前状态为爪夹接近面包\n为了完成移动面包毛绒玩具的任务应当：向右侧移动至面包上方，向下移动，合拢爪夹，夹住面包。", + "time": 1.6780296077073806, + "annotations": { + "bbox_1768535314294": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768535314294_1768535380399_4i8dxz39n", + "x": 0.7553332668863972, + "y": 0.47770369466145834, + "width": 0.06499999603271514, + "height": 0.08711111111111115 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向右前侧移动", + "correction_plan": 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0000000000000000000000000000000000000000..e4e99e44ff1903ca418762d927011e39594649ee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000991.json @@ -0,0 +1,585 @@ +{ + "task_description": "把洗碗机里的玻璃瓶朝左后边移动\n准备开始移动：0%\n接近玻璃瓶：20%\n夹住玻璃瓶：50%\n夹起玻璃瓶：70%\n准备放下玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至玻璃瓶上方，向下移动，合拢爪夹，夹住玻璃瓶，向上移动，向左后侧移动，移动到左后侧后，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把洗碗机里的玻璃瓶朝左后边移动的任务应当：向前移动至玻璃瓶上方，向下移动，合拢爪夹，夹住玻璃瓶。", + "time": 0.6262079623574821, + "annotations": { + "bbox_1768544043961": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768544043961_1768544159174_qo8xklz5o", + "x": 0.5823332774454786, + "y": 0.6110370279947916, + "width": 0.03799999768066424, + "height": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001626.json @@ -0,0 +1,257 @@ +{ + "task_description": "把黑色窗帘从右边往左边拉：\n准备开始移动：0%\n爪夹靠近黑色窗帘：20%\n爪夹合拢：50%\n爪夹开始拉动黑色窗帘：60%\n爪夹将黑色窗帘拉到左边：90%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768465583851": { + "instances": [ + { + "height": 0.9422222222222223, + "id": "bbox_1768465583851_1768465787894_4ototr3l9", + "width": 0.33899999999999986, + "x": 0.6505000000000001, + "y": 0.0017777777777777779 + } + ], + "type": "bbox" + }, + "point_1768465615723": { + "instances": [ + { + "id": "point_1768465615723_1768465765447_5fubk01t1", + "x": 0.46349999999999997, + "y": 0.3928888888888889 + } + ], + "type": "point" + }, + "point_1768465649569": { + "instances": [ + { + "id": "point_1768465649569_1768465773350_a0jjg6zqu", + "x": 0.5145000000000002, + "y": 0.4533333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度，并移动到黑色窗帘旁。接着落下爪夹靠近黑色窗帘，接近黑色窗帘后爪夹合拢抓取黑色窗帘。爪夹抓紧黑色窗帘并向爪夹左方移动，将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色窗帘，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色窗帘，未开始移动。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其与地面呈45度，并靠近黑色窗帘。", + "time": 0.9201030927835051 + }, + { + "action_description": "爪夹向爪夹右上方移动。", + "correction_plan": "爪夹靠近黑色窗帘，接近黑色窗帘后爪夹合拢抓取黑色窗帘。爪夹抓紧黑色窗帘并向爪夹左下方移动，将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "爪夹角度与地面接近垂直，缩短了与黑色窗帘的距离。方便后续抓取黑色窗帘。", + "frame": 86, + "progress": 15, + "progress_explanation": "爪夹角度与地面接近垂直，水平上接近了黑色窗帘。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，还未接近黑色窗帘。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹右上方移动，爪夹靠近黑色窗帘。", + "time": 2.8654639175257732, + "annotations": { + "bbox_1768465583851": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768465583851_1768810491430_zv3u1zjy4", + "x": 0.6525000000000001, + "y": 0, + "width": 0.3449999999999999, + "height": 0.9617777777777776 + } + ] + }, + "point_1768465615723": { + "type": "point", + "instances": [ + { + "id": "point_1768465615723_1768810500518_4swqzbyi4", + "x": 0.6785, + "y": 0.14933333333333332 + } + ] + }, + "point_1768465649569": { + "type": "point", + "instances": [ + { + "id": "point_1768465649569_1768810503510_rk62wllh6", + "x": 0.7205, + "y": 0.10133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "爪夹已经靠近黑色窗帘，接下来爪夹调整角度合拢抓取黑色窗帘。爪夹抓紧黑色窗帘并向爪夹左方移动，将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "爪夹向右下方移动，靠近了黑色窗帘，方便抓取。", + "frame": 107, + "progress": 20, + "progress_explanation": "爪夹靠近了黑色窗帘，方便抓取，因此进度提升为20%。", + "state_description": "爪夹靠近了黑色窗帘，准备抓取黑色窗帘。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹右下方移动，爪夹已经靠近黑色窗帘，准备抓取黑色窗帘。", + "time": 3.5699999999999994, + "annotations": { + "bbox_1768465583851": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768465583851_1768810515037_cskqdshyb", + "x": 0.6555000000000001, + "y": 0.012444444444444445, + "width": 0.34299999999999986, + "height": 0.9439999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黑色窗帘，向爪夹左边移动，是黑色窗帘从右边拉到左边。", + "error_success_analysis": "爪夹角度接近垂直于地面，方便爪夹合拢抓取到黑色窗帘。", + "frame": 161, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到黑色窗帘，因此进度提升到50%。", + "state_description": "爪夹合拢抓取到黑色窗帘，爪夹角度与地面接近垂直。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹左边移动，把黑色窗帘拉到左边。", + "time": 5.368144329896907, + "annotations": { + "bbox_1768465583851": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768465583851_1768810536260_w9bp8loli", + "x": 0.6755000000000001, + "y": 0.0071111111111111115, + "width": 0.3209999999999999, + "height": 0.9920000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黑色窗帘，向爪夹左边开始移动。", + "correction_plan": "爪夹将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "爪夹合拢夹紧黑色窗帘，方便拉动黑色窗帘。", + "frame": 197, + "progress": 60, + "progress_explanation": "爪夹开始拉动黑色窗帘，因此进度提升到60%。", + 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"action_description": "爪夹松开，爪夹向左下方移动。", + "correction_plan": "爪夹向爪夹右上方移动，同时调整爪夹的角度，并移动到黑色窗帘旁。接着落下爪夹靠近黑色窗帘，接近黑色窗帘后爪夹合拢抓取黑色窗帘。爪夹抓紧黑色窗帘并向爪夹左方移动，将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "爪夹向左下方移动，回到最初位置，远离黑色窗帘。", + "frame": 259, + "progress": 0, + "progress_explanation": "爪夹向左下方移动，回到初始位置，远离黑色窗帘。因此进度为0。", + "state_description": "爪夹松开黑色窗帘，向左下方移动，移动至桌面上方。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹左上方移动，靠近黑色窗帘。\n\n", + "time": 8.627938144329896, + "annotations": { + "bbox_1768465583851": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768465583851_1768810596683_jujswy5rj", + "x": 0.5435000000000001, + "y": 0.005333333333333333, + "width": 0.4539999999999999, + "height": 0.9848888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向右上方移动，同时爪夹张开。", + "correction_plan": "爪夹靠近黑色窗帘，准备抓取黑色窗帘，接近黑色窗帘后爪夹合拢抓取黑色窗帘。爪夹抓紧黑色窗帘并向爪夹左方移动，将黑色窗帘拉到左边，松开爪夹。", + "error_success_analysis": "爪夹向爪夹右上方移动，接近黑色窗帘，方便抓取黑色窗帘。", + "frame": 305, + "progress": 20, + "progress_explanation": "爪夹向爪夹右上方移动，靠近黑色窗帘。方便抓取黑色窗帘，因此进度提升至20%.\n", + "state_description": "爪夹向右上方移动，同时爪夹张开，靠近黑色窗帘。\n为完成把黑色窗帘从右边往左边拉的任务应当：爪夹向爪夹右上方移动，抓取黑色窗帘。", + "time": 10.152680412371133, + "annotations": { + "bbox_1768465583851": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768465583851_1768810649914_8qfkk6iaw", + "x": 0.5125, + "y": 0.008888888888888887, + "width": 0.484, + "height": 0.9902222222222222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768465583851", + "name": "黑色窗帘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768465615723", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768465649569", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001419.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001419.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc68f38a20919a23b910be5418d57dac740444b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001419.json @@ -0,0 +1,345 @@ +{ + "task_description": "抓取碗中的笔放到桌面上。\n准备开始移动：0%\n爪夹靠近碗中的笔：25%\n爪夹合拢：50%\n爪夹抓紧碗中的笔接近桌面：75%\n爪夹松开，回到初始位置：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768529595221": { + "instances": [ + { + "height": 0.16177777777777771, + "id": "bbox_1768529595221_1768529742905_wexlnkayu", + "width": 0.05, + "x": 0.5145000000000001, + "y": 0.6844444444444444 + } + ], + "type": "bbox" + }, + "point_1768529624479": { + "instances": [ + { + "id": "point_1768529624479_1768529736305_zaygvf28e", + "x": 0.24250000000000002, + "y": 0.3128888888888889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方碗中的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到碗中的笔的正上方。接着落下爪夹靠近碗中的笔，接近碗中的笔后爪夹合拢抓取碗中的笔。抓紧碗中的笔垂直升高爪夹并向爪夹左后方的桌面接近，水平到达桌面的正上方后将碗中的笔放到桌面上，爪夹松开，爪夹向爪夹上方移动，回到初始位置。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，远离碗中的笔，未开始移动。进度0%。", + "state_description": "当前为初始状态，抓夹张开，远离碗中的笔，未开始移动。\n为完成抓取碗中的笔放到桌面上的任务应当：爪夹向爪夹左后方碗中的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到碗中的笔的正上方。", + "time": 0.5848109850515465 + }, + { + "action_description": "爪夹向爪夹右上方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右后方碗中的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到碗中的笔的正上方。接着落下爪夹靠近碗中的笔，接近碗中的笔后爪夹合拢抓取碗中的笔。抓紧碗中的笔垂直升高爪夹并向爪夹左后方的桌面接近，水平到达桌面的正上方后将碗中的笔放到桌面上，爪夹松开，爪夹向爪夹右上方移动，回到初始位置。", + "error_success_analysis": "爪夹与桌面有一定角度，水平上为接近碗中的笔。", + "frame": 69, + "progress": 5, + "progress_explanation": "爪夹向爪夹右上方移动，调整爪夹角度，方便抓取。因此进度提升为5%。", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001729.json new file mode 100644 index 0000000000000000000000000000000000000000..701796cd2a5647cb53a35652bd80695ff7151e9a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001729.json @@ -0,0 +1,159 @@ +{ + "task_description": "从杯子中拿起绿色标签，把它放在桌子的右上角。\n准备开始移动：0%\n爪夹靠近绿色标签：20%\n爪夹合拢：40%\n爪夹将绿色标签移出杯子：60%\n爪夹将绿色标签放到桌子上：90%\n爪夹张开：100%", + "progress_points": [ + { + "time": 0.5848453608247424, + "frame": 18, + "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，远离绿色标签，未开始移动。\n为完成抓取绿色标签放在桌子右上角的任务应当：爪夹向爪夹左下方的绿色标签移动，同时调整爪夹的角度，并移动到绿色标签的上方。", + "progress_explanation": "当前为初始状态，远离绿色标签，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": 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"error_success_analysis": "爪夹向爪夹左下方移动，水平上还未接近绿色标签。", + "frame": 18, + "progress": 5, + "progress_explanation": "爪夹向爪夹左下方移动，爪夹角度接近垂直于桌面。方便抓取。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。还未接近绿色标签。\n为完成抓取绿色标签放在桌子右上角的任务应当：爪夹向爪夹左下方的绿色标签移动，同时调整爪夹的角度，并移动到绿色标签的上方。", + "time": 1.2 + }, + { + "action_description": "爪夹向爪夹左下方移动。", + "correction_plan": "爪夹向爪夹左下方的绿色标签移动，同时调整爪夹的角度，并移动到绿色标签的上方。接着落下爪夹靠近绿色标签，接近绿色标签后爪夹合拢抓取绿色标签。抓紧绿色标签垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的上方后将绿色标签放在桌面上，松开爪夹，移动爪夹回到初始位置。", + "error_success_analysis": "爪夹向左下方移动，缩短了与绿色标签的距离。方便后续抓取绿色标签。", + "frame": 68, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了绿色标签。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，向爪夹左下方移动。水平上接近了绿色标签。\n为完成抓取绿色标签放在桌子右上角的任务应当：爪夹向爪夹左下方的绿色标签移动，同时调整爪夹的角度，并移动到绿色标签的上方。", + "time": 2.27020618556701 + }, + { + "action_description": "爪夹向爪夹左下方移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取绿色标签。抓紧绿色标签垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的上方后将绿色标签放在桌面上，松开爪夹，移动爪夹回到初始位置。", + "error_success_analysis": 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"correction_plan": "张开爪夹，爪夹移动回到初始位置。", + "error_success_analysis": "爪夹夹紧绿色标签，移动到桌面上方，方便绿色标签落在桌面上。", + "frame": 293, + "progress": 90, + "progress_explanation": "爪夹将绿色标签放到桌子上，因此进度提升为90%。", + "state_description": "爪夹夹紧绿色标签，向下移动，将绿色标签放到桌子上。\n为完成抓取绿色标签放在桌子右上角的任务应当：松开爪夹，爪夹移动回到初始位置。", + "time": 9.778865979381445 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，绿色标签落在桌面上。", + "frame": 182, + "progress": 100, + "progress_explanation": "爪夹张开，绿色标签放在桌面右上角，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，垂直升高爪夹并向爪夹右后方移动，回到初始位置。\n爪夹松开，将绿色标签放在桌面右上角的任务目标完成。", + "time": 12.133333333333333 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768550904779", + "name": "绿色标签", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768550922802", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768550932277", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001887.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001887.json new file mode 100644 index 0000000000000000000000000000000000000000..022c48c18a4f8d3d1de7164b271eb53ce33c00eb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001887.json @@ -0,0 +1,329 @@ +{ + "task_description": "把黑色的枕头移到右边。\n准备开始移动：0%\n爪夹靠近黑色枕头：25%\n爪夹合拢：50%\n爪夹将黑色枕头移到右边：75%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768556951344_umycwp12p", + "x": 0.46950000000000003, + "y": 0.7555555555555555, + "width": 0.18, + "height": 0.24355555555555558 + } + ] + } + }, + "correction_plan": "爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。接着落下爪夹靠近黑色枕头，接近黑色枕头后爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色枕头，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色枕头，未开始移动。\n为完成把黑色枕头移到右边的任务应当：爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。", + "time": 0.641666 + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。接着落下爪夹靠近黑色枕头，接近黑色枕头后爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹的角度与沙发呈 70 度。水平上未接近黑色枕头。", + "frame": 36, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与沙发呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与沙发呈 70 度。还未接近黑色枕头。\n为完成把黑色枕头移到右边的任务应当：爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。", + "time": 2.4, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809496487_4sw7zygf8", + "x": 0.47850000000000004, + "y": 0.7591111111111112, + "width": 0.17400000000000002, + "height": 0.21155555555555547 + } + ] + }, + "point_1768556928751": { + "type": "point", + "instances": [ + { + "id": "point_1768556928751_1768809504840_zdqq6psux", + "x": 0.6075, + "y": 0.352 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动。", + "correction_plan": "爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。接着落下爪夹靠近黑色枕头，接近黑色枕头后爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹继续向黑色枕头靠近，方便后续抓取。", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹向爪夹左前方移动，继续向黑色枕头靠近。方便抓取。因此进度提升为10%。", + "state_description": "爪夹向爪夹左前方移动，继续向黑色枕头靠近。\n为完成把黑色枕头移到右边的任务应当：爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。", + "time": 4.866666666666666, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809524407_slwq288oh", + "x": 0.48150000000000004, + "y": 0.7573333333333333, + "width": 0.16399999999999998, + "height": 0.20088888888888887 + } + ] + }, + "point_1768556928751": { + "type": "point", + "instances": [ + { + "id": "point_1768556928751_1768809532455_gyojwofg6", + "x": 0.5055, + "y": 0.5013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。接着落下爪夹靠近黑色枕头，接近黑色枕头后爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹继续向黑色枕头靠近，方便后续抓取。", + "frame": 229, + "progress": 15, + "progress_explanation": "爪夹向爪夹左前方移动，继续向黑色枕头靠近。方便抓取。因此进度提升为15%。", + "state_description": "爪夹向爪夹左前方移动，向黑色枕头靠近，同时调整爪夹角度。\n为完成把黑色枕头移到右边的任务应当：爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。", + "time": 7.633848896391752, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809542399_pupd1gaml", + "x": 0.4805, + "y": 0.7591111111111112, + "width": 0.1710000000000001, + "height": 0.19911111111111096 + } + ] + }, + "point_1768556928751": { + "type": "point", + "instances": [ + { + "id": "point_1768556928751_1768809555758_pljlcbmx9", + "x": 0.4425, + "y": 0.5760000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹左右来回移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。接着落下爪夹靠近黑色枕头，接近黑色枕头后爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹向爪夹左右方向来回移动，调整爪夹角度，准备接近黑色枕头。方便后续抓取。", + "frame": 154, + "progress": 20, + "progress_explanation": "爪夹向爪夹左右方向来回移动，调整爪夹角度，准备接近黑色枕头。因此进度提升为20%。", + "state_description": "爪夹向爪夹左右方向来回移动，调整爪夹角度，方便抓取。\n为完成把黑色枕头移到右边的任务应当：爪夹向爪夹左下方的黑色枕头移动，同时调整爪夹的角度使其垂直与沙发，并移动到黑色枕头的正上方。", + "time": 10.266666666666667, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809569742_pad3n6hmj", + "x": 0.47750000000000004, + "y": 0.7537777777777778, + "width": 0.176, + "height": 0.208 + } + ] + }, + "point_1768556928751": { + "type": "point", + "instances": [ + { + "id": "point_1768556928751_1768809577582_2ha8xbzz1", + "x": 0.40750000000000003, + "y": 0.6915555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动，并垂直向下移动。", + "correction_plan": "爪夹合拢抓取黑色枕头。抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑色枕头，方便抓取。", + "frame": 411, + "progress": 25, + "progress_explanation": "爪夹向爪夹后方移动，来到黑色枕头的正上方，并垂直向下移动，靠近了黑色枕头。因此进度提升为25%。", + "state_description": "爪夹向爪夹后方移动，来到黑色枕头的正上方，并垂直向下移动，靠近了黑色枕头。\n为完成把黑色枕头移到右边的任务应当：爪夹合拢抓取黑色枕头，抓紧黑色枕头垂直升高爪夹并向爪夹右前方移动。", + "time": 13.693299146907217, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809590141_i2ht2mrfg", + "x": 0.48650000000000004, + "y": 0.8515555555555555, + "width": 0.16299999999999998, + "height": 0.1066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹角度接近垂直于沙发，方便爪夹合拢抓取到黑色枕头。", + "frame": 472, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到黑色枕头，因此进度提升为50%。", + "state_description": "爪夹合拢抓取到黑色枕头，爪夹角度与沙发接近垂直。\n为完成把黑色枕头移到右边的任务应当：爪夹抓紧黑色枕头垂直升高爪夹并向爪夹右前方移动。", + "time": 15.730756218041238, + "annotations": { + "bbox_1768556911951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768556911951_1768809601132_c7jqnlxno", + "x": 0.4694999999999999, + "y": 0.7591111111111112, + "width": 0.1780000000000001, + "height": 0.20088888888888887 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黑色枕头，垂直升高，向爪夹右后方移动。", + "correction_plan": "抓紧黑色枕头垂直升高爪夹并向爪夹右前方的沙发接近，水平到达沙发的正上方后将黑色枕头放在沙发上，松开爪夹。", + "error_success_analysis": "爪夹夹紧黑色枕头，调整爪夹角度，方便放置黑色枕头。", + "frame": 277, + "progress": 65, + "progress_explanation": 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No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001957.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001957.json new file mode 100644 index 0000000000000000000000000000000000000000..38a1e622969254cfe71f9fe7e01f176d08bbf5b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001957.json @@ -0,0 +1,335 @@ +{ + "task_description": "把杯子移到案板上。\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹合拢：40%\n爪夹抓紧杯子接近案板：60%\n爪夹将杯子放在案板上：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768792900280": { + "instances": [ + { + "height": 0.1831111111111111, + "id": "bbox_1768792900280_1768792977174_5xoqcm946", + 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"point_1768792918200_1768810045249_rbc4fru9b", + "x": 0.5305, + "y": 0.33066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。\n", + "correction_plan": "爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，水平到达案板的正上方后将杯子放置在案板上，松开爪夹，使杯子放置成功。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杯子。", + "frame": 154, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子放置到案板上的任务应当：爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，将杯子放置在案板上，松开爪夹，远离杯子。\n", + "time": 5.119199, + "annotations": { + "bbox_1768792900280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792900280_1768810054513_9i8qhag8p", + "x": 0.4915, + "y": 0.3217777777777778, + "width": 0.05800000000000001, + "height": 0.17066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杯子，垂直升高，向爪夹右前方移动。", + "correction_plan": "爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，水平到达案板的正上方后将杯子放置在案板上，松开爪夹，使杯子放置成功。", + "error_success_analysis": "爪夹夹紧杯子，垂直升高并向右前方案板移动。", + "frame": 191, + "progress": 45, + "progress_explanation": "爪夹夹紧杯子，垂直升高并向右前方移动，还未接近案板，因此进度为45%。", + "state_description": "爪夹夹紧杯子，向爪夹右前方移动，还未接近案板。\n为完成抓取杯子放置到案板上的任务应当：爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，将杯子放置在案板上，松开爪夹，远离杯子。\n", + "time": 6.358006671649485, + "annotations": { + "bbox_1768792900280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792900280_1768810063521_q2oyrc1v0", + "x": 0.6094999999999999, + "y": 0.07288888888888888, + "width": 0.088, + "height": 0.2488888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杯子，向爪夹右前方移动。", + "correction_plan": "爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，水平到达案板的正上方后将杯子放置在案板上，松开爪夹，使杯子放置成功。", + "error_success_analysis": "爪夹移动到了案板上方，方便将杯子放置在案板上。", + "frame": 227, + "progress": 55, + "progress_explanation": "爪夹夹紧杯子，到了爪夹右前方的案板上方，因此进度提升为 55%。", + "state_description": "爪夹爪夹夹紧杯子，爪夹角度接近垂直于案板，位于案板上方。\n为完成抓取杯子放置到案板上的任务应当：爪夹抓紧杯子垂直升高爪夹并向爪夹右前方的案板接近，将杯子放置在案板上，松开爪夹，远离杯子。\n", + "time": 7.5525083520618566, + "annotations": { + "bbox_1768792900280": { + "type": "bbox", + "instances": [ + { + 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"progress_explanation": "爪夹将杯子放在案板上，因此进度完成80%。", + "state_description": "爪夹垂直向下移动，放置杯子。\n为完成抓取杯子放置到案板上的任务应当：松开爪夹，远离杯子。", + "time": 9.533333333333333, + "annotations": { + "bbox_1768792900280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792900280_1768810115152_0lmt8hyuu", + "x": 0.8395000000000001, + "y": 0.416, + "width": 0.15999999999999998, + "height": 0.30755555555555564 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，杯子平稳放置在案板上。", + "frame": 313, + "progress": 100, + "progress_explanation": "爪夹张开，杯子成功放置在案板上，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，杯子成功放置在案板上，爪夹远离杯子。\n爪夹张开，把杯子移到案板上的任务完成。", + "time": 10.441030597422682, + "annotations": { + "bbox_1768792900280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792900280_1768810138911_xwq9t4u23", + "x": 0.8334999999999999, + "y": 0.41066666666666674, + "width": 0.1620000000000001, + "height": 0.3111111111111111 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768792900280", + "name": "杯子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768792905735", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768792918200", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.wrist_image_left/episode_001102.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.wrist_image_left/episode_001102.json new file mode 100644 index 0000000000000000000000000000000000000000..ad1cc8939a635ff97cac141ce445c0a592fa83b0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-001/observation.images.wrist_image_left/episode_001102.json @@ -0,0 +1,365 @@ +{ + "task_description": "把杯子上的记号笔拿下来放在桌子上。\n开始移动：0%\n爪夹记号笔：25%\n抓紧记号笔：50%\n移动记号笔：75%\n将记号笔完全放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "point_1768528746532": { + "instances": [ + { + "id": "point_1768528746532_1768528772604_2etgrh1f0", + "x": 0.45175438596491224, + "y": 0.6222222261881193 + } + ], + "type": "point" + }, + "point_1768528748148": { + "instances": [ + { + "id": "point_1768528748148_1768528774516_jtiaqn3gp", + "x": 0.7602339181286549, + "y": 0.6560104003271706 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左后方应当并调整爪夹角度，爪夹向爪夹后杯子应当至杯子上方，爪夹向爪夹下移动靠近记号笔，爪夹合拢，爪夹夹紧记号笔向爪夹上抬升，爪夹向爪夹左移动调整爪夹进度使其垂直桌面，爪夹向爪夹下移动靠近桌面，爪夹打开使记号笔落在桌面", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹未开始应当进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将记号笔放在桌子上的任务应当：爪夹向爪夹左后方应当并调整爪夹角度", + "time": 0.009989805810397552 + }, + { + "action_description": "爪夹向爪夹左移动并调整爪夹角度", + "annotations": { + "bbox_1768528745708": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002179.json new file mode 100644 index 0000000000000000000000000000000000000000..aaff0452d8a4a5be6c372edeafe51dbf06e1ec7c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002179.json @@ -0,0 +1,327 @@ +{ + "task_description": "把订书机移到右边\n开始移动0%\n爪夹靠近订书机20%\n爪夹抓取订书机40%\n爪夹抓取订书机向右移动60%\n爪夹将订书机放在桌子上80%\n爪夹松开，订书机落在桌子上100%", + "progress_points": [ + { + "action_description": "爪夹保持初始状态未出现在画面中，暂未移动", + "correction_plan": "爪夹向爪夹方向的下方下落将爪夹出现在画面中，张开的爪夹继续向爪夹方向的左前方向移动至订书机的上方后张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的订书机后爪夹做闭合抓取订书机的动作，抓取订书机的爪夹向爪夹方向的上方竖直抬升并向爪夹方向的右侧移动后抓取订书机的爪夹竖直下落将抓取的订书机放在桌子上，抓取订书机的爪夹张开，抓取的订书机落在桌子的右边", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": 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+ } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方移动并下落", + "correction_plan": "张开的爪夹继续向爪夹方向的右侧移动至水槽中物品的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及水槽里的物品，张开的爪夹做闭合抓取水槽里物品的动作，抓取水槽里物品的爪夹向爪夹方向的上方竖直向上抬升将物品移出水槽，后继续向爪夹方向的右侧移动至台面的上方，抓取水槽中物品的爪夹张开，抓取的水槽中的物品落在台面上", + "error_success_analysis": "张开的爪夹向爪夹方向的右前靠近抓取物水槽里的物品移动并下落", + "frame": 60, + "progress": 5, + "progress_explanation": "爪夹开始向右下方的水槽物品靠近，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于水槽中物品的左上方向\n为了完成把水槽里的物品拿起来放到台面上的任务：张开的爪夹继续向爪夹方向的右侧移动至水槽中物品的上方", + "time": 1.995360824742268, + "annotations": { + "point_1768543901167": { + "type": "point", + "instances": [ + { + "id": "point_1768543901167_1768544452199_qshgj01tn", + "x": 0.4295000000000001, + "y": 0.695111111111111 + } + ] + }, + "point_1768543897380": { + "type": "point", + "instances": [ + { + "id": "point_1768543897380_1768544454612_6i6xkdnjc", + "x": 0.3875, + "y": 0.6897777777777777 + } + ] + }, + "bbox_1768543892562": { + "type": "bbox", + "instances": [ + { + "id": 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--git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002306.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002306.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb25315cb9859a31e3ace3b206a39d668ab16dd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002306.json @@ -0,0 +1,291 @@ +{ + "task_description": "把纸巾移到右边\n开始移动0%\n爪夹靠近纸巾20%\n爪夹抓取纸巾40%\n爪夹抓取纸巾向右移动60%\n爪夹将纸巾放在桌子右侧80%\n爪夹松开，纸巾落在桌子右边100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的右上方向移动至纸巾的正上方，后张开的爪夹向爪夹方向的下方下落靠近或触及下方的纸巾，张开的爪夹做闭合抓取纸巾的动作，抓取纸巾的爪夹向爪夹方向的上方竖直抬升并向爪夹方向的右前方向移动至桌子的右侧，抓取纸巾的爪夹下落，将抓取的纸巾放在桌子上，抓取纸巾的爪夹张开，抓取的纸巾落在桌子右侧", + "error_success_analysis": "", + "frame": 36, + "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，没有移动和接触纸巾。\n为了完成把纸巾移到右边的任务：张开的爪夹向爪夹方向的右上方向移动至纸巾的正上方", + "time": 1.1911340206185568, + "annotations": { + "bbox_1768546879174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768546879174_1768547195523_5vsusvuuc", + "x": 0.6645000000000001, + "y": 0.5013333333333333, + "width": 0.18600000000000003, + "height": 0.448 + } + ] + }, + "point_1768546897217": { + "type": "point", + "instances": [ + { + "id": "point_1768546897217_1768547207197_457qyjxcy", + "x": 0.4265, + "y": 0.4391111111111111 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方先移动并调整爪夹方向", + "correction_plan": "张开的爪夹向爪夹方向的右上方向移动至纸巾的正上方，后张开的爪夹向爪夹方向的下方下落靠近或触及下方的纸巾，张开的爪夹做闭合抓取纸巾的动作，抓取纸巾的爪夹向爪夹方向的上方竖直抬升并向爪夹方向的右前方向移动至桌子的右侧，抓取纸巾的爪夹下落，将抓取的纸巾放在桌子上，抓取纸巾的爪夹张开，抓取的纸巾落在桌子右侧", + "error_success_analysis": "张开的爪夹向爪夹方向的右侧靠近纸巾的方向移动", + "frame": 80, + "progress": 5, + "progress_explanation": "爪夹向右前方向移动靠近纸巾，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于纸巾的左上方。\n为了完成把纸巾移到右边的任务：张开的爪夹向左调整爪夹方向并向爪夹方向的右前方向移动至纸巾的上方", + "time": 2.6554639175257733, + "annotations": { + "point_1768546897217": { + "type": "point", + "instances": [ + { + "id": "point_1768546897217_1768547213067_r3us8509q", + "x": 0.6995, + "y": 0.3075555555555555 + } + ] + }, + "point_1768546889042": { + "type": "point", + "instances": [ + { + "id": "point_1768546889042_1768547215006_fbs73g2yc", + "x": 0.6835, + "y": 0.37155555555555553 + } + ] + }, + "bbox_1768546879174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768546879174_1768547220186_q6jy6bbrt", + "x": 0.6615, + "y": 0.4942222222222222, + "width": 0.183, + "height": 0.4657777777777779 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧移动并调整爪夹垂直于桌面", + "correction_plan": "张开的爪夹向左调整爪夹方向并向爪夹方向的右前方向移动至纸巾的上方，张开的爪夹向爪夹方向的下方下落靠近或触及下方的纸巾，张开的爪夹做闭合抓取纸巾的动作，抓取纸巾的爪夹向爪夹方向的上方竖直抬升并向爪夹方向的右前方向移动至桌子的右侧，抓取纸巾的爪夹下落，将抓取的纸巾放在桌子上，抓取纸巾的爪夹张开，抓取的纸巾落在桌子右侧", + "error_success_analysis": "爪夹向爪夹方向的右侧移动并调整爪夹角度使其垂直于桌面", + "frame": 127, + "progress": 15, + "progress_explanation": "爪夹向右移动靠近右侧的纸巾，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于纸巾的左上方。\n为了完成把纸巾移到右边的任务：张开的爪夹向左调整爪夹方向并向爪夹方向的右前方向移动至纸巾的上方", + "time": 4.2290721649484535, + "annotations": { + "bbox_1768546879174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768546879174_1768547235693_aiwayt4gf", + "x": 0.6625, + "y": 0.4995555555555556, + "width": 0.183, + "height": 0.45155555555555565 + } + ] + }, + "point_1768546889042": { + "type": "point", + "instances": [ + { + "id": "point_1768546889042_1768547242323_jrxi59qzz", + "x": 0.7725000000000001, + "y": 0.37333333333333335 + } + ] + }, + "point_1768546897217": { + "type": "point", + "instances": [ + { + "id": "point_1768546897217_1768547244469_eb8m9nbf3", + "x": 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"progress_explanation": "爪夹抓取纸巾向右侧移动，进度提升为60%", + "error_success_analysis": "抓取纸巾上方把手的爪夹向右侧移动将抓取的纸巾移到右边", + "correction_plan": "抓取纸巾的爪夹下落，将抓取的纸巾放在桌子上，抓取纸巾的爪夹张开，抓取的纸巾落在桌子右侧", + "annotations": { + "point_1768546897217": { + "type": "point", + "instances": [ + { + "id": "point_1768546897217_1768547301929_33quiaagd", + "x": 0.9625, + "y": 0.656 + } + ] + }, + "bbox_1768546879174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768546879174_1768547305983_slxrcpgkw", + "x": 0.8225, + "y": 0.6222222222222222, + "width": 0.175, + "height": 0.33599999999999997 + } + ] + } + } + }, + { + "action_description": "抓取纸巾的爪夹向爪夹方向的前方下落", + "correction_plan": "抓取纸巾的爪夹张开，抓取的纸巾落在桌子右侧", + "error_success_analysis": "抓取纸巾的爪夹向前侧下方下落，抓取的纸巾被放在桌子上", + "frame": 269, + "progress": 80, + "progress_explanation": "爪夹下落，抓取的纸巾放在桌子右侧，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌上的纸巾的把手。\n为了完成把纸巾移到右边的任务：抓取纸巾上方把手的爪夹张开，纸巾落在桌子右边", + "time": 8.971752577319588 + }, + { + "action_description": "抓取纸巾的爪夹张开并向爪夹方向的后侧移动", + "correction_plan": "已完成把纸巾移到右边的任务", + "error_success_analysis": "抓取纸巾的爪夹张开并向爪夹方向的后方移动，抓取的纸巾落在桌子的右侧", + "frame": 147, + "progress": 100, + "progress_explanation": "爪夹张开，抓取的纸巾落在桌子上，因此进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子右边的纸巾的左上方\n把纸巾移到右边已完成", + "time": 9.8, + "annotations": { + "point_1768546889042": { + "type": "point", + "instances": [ + { + "id": "point_1768546889042_1768547312391_ix4qatznv", + "x": 0.9135, + "y": 0.5742222222222222 + } + ] + }, + "point_1768546897217": { + "type": "point", + "instances": [ + { + "id": "point_1768546897217_1768547314387_sc2kyyvex", + "x": 0.9484999999999999, + "y": 0.4942222222222223 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768546879174", + "name": "纸巾", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768546889042", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768546897217", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002333.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002333.json new file mode 100644 index 0000000000000000000000000000000000000000..16bcb9c745639259d68c870fff076f342e476364 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002333.json @@ -0,0 +1,420 @@ +{ + "task_description": "把箱子左边的一个蓝色积木放进右边的玩具箱里。\n开始移动0%\n爪夹靠近蓝色积木20%\n爪夹抓取蓝色积木40%\n爪夹抓取蓝色积木接近右边的玩具箱60%\n爪夹将蓝色积木放入右边的玩具箱中80%\n爪夹松开，蓝色积木落入右边的玩具箱里100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": 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+ "action_description": "张开的爪夹做闭合抓取水嘴的动作", + "correction_plan": "抓取水嘴的爪夹向爪夹方向的左侧移动将水嘴向左移动，抓取水嘴的爪夹张开，爪夹向上离开水嘴", + "error_success_analysis": "张开的爪夹闭合，抓取张开的两侧爪夹中间的水嘴", + "frame": 73, + "progress": 50, + "progress_explanation": "爪夹闭合抓取水嘴，因此进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取水嘴\n为了完成把水嘴向左移动的任务：抓取水嘴的爪夹向爪夹方向的左侧移动将抓取的水嘴向左移动", + "time": 4.866666666666666, + "annotations": { + "point_1768792020036": { + "type": "point", + "instances": [ + { + "id": "point_1768792020036_1768794155814_tl0vjrutq", + "x": 0.6205, + "y": 0.5653333333333334 + } + ] + }, + "bbox_1768792014850": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792014850_1768794161160_gbaa6kbwf", + "x": 0.5385, + "y": 0.11555555555555556, + "width": 0.3280000000000001, + "height": 0.832 + } + ] + } + } + }, + { + "action_description": "抓取水嘴的爪夹向爪夹方向的左侧方向移动", + "correction_plan": "抓取水嘴的爪夹张开，爪夹向上离开水嘴", + "error_success_analysis": "抓取水嘴的爪夹向爪夹方向的左侧移动后将抓取的水嘴向左移动", + "frame": 105, + "progress": 75, + "progress_explanation": "爪夹抓取水嘴向左移动，因此进度提升为75%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取水嘴\n为了完成把水嘴向左移动的任务：抓取水嘴的爪夹张开，水嘴被移至左侧", + "time": 7, + "annotations": { + "bbox_1768792014850": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792014850_1768794179018_1ft7gvgw6", + "x": 0.48150000000000004, + "y": 0.0035555555555555557, + "width": 0.3749999999999999, + "height": 0.9564444444444445 + } + ] + } + } + }, + { + "action_description": "抓取水嘴的爪夹重新张开", + "correction_plan": "已完成把水嘴向左移动的任务", + "error_success_analysis": "抓取水嘴的爪夹成功重新张开", + "frame": 121, + "progress": 100, + "progress_explanation": "爪夹张开，水嘴被移至左侧，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于张开的水嘴的两侧。\n把水嘴向左移动已完成", + "time": 8.066666666666666, + "annotations": { + "bbox_1768792014850": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792014850_1768794195542_u7g1vrscm", + "x": 0.5165, + "y": 0.005333333333333333, + "width": 0.281, + "height": 0.9599999999999999 + } + ] + }, + "point_1768792020036": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.wrist_image_left/episode_002246.json new file mode 100644 index 0000000000000000000000000000000000000000..7707aee0f42bed6c33079c35c04f46249bf0c931 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-002/observation.images.wrist_image_left/episode_002246.json @@ -0,0 +1,530 @@ +{ + "task_description": "将杯子里的东西倒入碗中\n开始移动0%\n爪夹靠近杯子25%\n爪夹抓取杯子50%\n爪夹抓取杯子将东西倒入碗中75%\n爪夹张开，杯子放到桌子上100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的左后方向移动至杯子的侧边上方后张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的杯子，张开的爪夹做闭合抓取杯子的动作，抓取杯子的爪夹向爪夹方向的上方抬升并向爪夹方向右侧移动至碗的上方，后抓取杯子的爪夹向爪夹方向的左侧调整爪夹方向，使杯子中的东西下落进入碗中，抓取杯子的爪夹向右调整调整角度使其垂直于桌面，抓取杯子的爪夹向爪夹方向的前方移动至桌子上方，后抓取杯子的爪夹下落将抓取的杯子放在桌子上，抓取杯子的爪夹张开，抓取的杯子放在桌子上", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", 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"point_targets": [ + { + "id": "point_1768881492100", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768881492286", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004900.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004900.json new file mode 100644 index 0000000000000000000000000000000000000000..2786a677f318f26db14b78bbd7ac99897b8a3c74 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004900.json @@ -0,0 +1,401 @@ +{ + "task_description": "关闭右上方柜门\n准备开始移动：0%\n接近柜门：20%\n触碰柜门：50%\n开始关闭柜门：70%\n基本关上柜门：90%\n完全关上柜门：100%", + "progress_points": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.wrist_image_left/episode_004105.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.wrist_image_left/episode_004105.json new file mode 100644 index 0000000000000000000000000000000000000000..70cd87b525a09bc0922a64379185bb8042875818 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-004/observation.images.wrist_image_left/episode_004105.json @@ -0,0 +1,373 @@ +{ + "task_description": "抓取吸管放在桌子上。\n准备开始移动：0%\n爪夹靠近吸管：20%\n爪夹合拢抓取吸管：40%\n爪夹抓紧吸管远离盒子：60%\n爪夹将吸管放在桌子上：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768804962597": { + "instances": [ + { + "height": 0.08711111111111115, + "id": "bbox_1768804962597_1768805016004_9wq2em5a0", + "width": 0.10300000000000002, + "x": 0.6775, + 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"action_description": "爪夹夹紧蓝色笔调整角度，并水平向后移动。", + "correction_plan": "爪夹向爪夹正后方的桌面接近，水平到达桌面的正上方后将蓝色笔竖立在桌面上，松开爪夹，远离蓝色笔。", + "error_success_analysis": "爪夹夹紧蓝色笔，调整蓝色笔为竖立状态。方便放置。", + "frame": 432, + "progress": 75, + "progress_explanation": "爪夹夹紧蓝色笔，调整蓝色笔为竖立状态。因此进度提升为75%。", + "state_description": "爪夹夹紧蓝色笔，调整角度，是蓝色笔处于竖立状态。\n为完成抓取蓝色抓取蓝色笔竖立在桌面上的任务应当：爪夹向爪夹正后方的桌面接近，水平到达桌面的正上方后将蓝色笔竖立在桌面上。", + "time": 14.38797275, + "annotations": { + "bbox_1768800708484": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768800708484_1768809033013_qubgwpel1", + "x": 0.5665, + "y": 0.12088888888888889, + "width": 0.07400000000000002, + "height": 0.6862222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色笔，向爪夹后方移动。", + "correction_plan": "松开爪夹，远离蓝色笔。", + "error_success_analysis": "爪夹夹紧蓝色笔，蓝色笔呈竖立状态，方便放置。", + "frame": 240, + "progress": 80, + "progress_explanation": "爪夹将蓝色笔竖立在桌面上，因此进度提升为80%。", + "state_description": "爪夹夹紧蓝色笔向爪夹后方移动，将蓝色笔竖立在桌面上。\n为完成抓取蓝色抓取蓝色笔竖立在桌面上的任务应当：松开爪夹，远离蓝色笔。", + "time": 16, + "annotations": { + "bbox_1768800708484": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768800708484_1768809055123_luvo0fz8x", + "x": 0.5705, + "y": 0.11555555555555554, + "width": 0.07400000000000002, + "height": 0.6951111111111113 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，蓝色笔竖立在桌面上。", + "frame": 593, + "progress": 100, + "progress_explanation": "爪夹张开，蓝色笔成功竖立在桌面上，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，向爪夹正前方移动并垂直向上移动，远离蓝色笔。\n爪夹松开，把蓝色笔竖立在桌面上的任务完成。", + "time": 19.77450205, + "annotations": { + "bbox_1768800708484": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768800708484_1768809092043_itcv19zln", + "x": 0.3945, + "y": 0.43200000000000005, + "width": 0.03599999999999994, + "height": 0.27199999999999996 + } + ] + }, + "point_1768800716147": { + "type": "point", + "instances": [ + { + "id": "point_1768800716147_1768809094850_yg88m9b4a", + "x": 0.4575, + "y": 0.6471111111111111 + } + ] 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005016.json @@ -0,0 +1,357 @@ +{ + "task_description": "打开右边文件柜最下面的抽屉\n开始移动：0%\n爪夹靠近抽屉把手：25%\n抓紧抽屉把手：50%\n移动抽屉：75%\n将右边文件柜最下面的抽屉完全打开:100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1768794412464": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1768794412464_1768794484967_0krssbouq", + "width": 0.2219999864501961, + "x": 0.5236665940144901, + "y": 0.5825925835503472 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前移动同时调整爪夹角度，爪夹向爪夹前方的左下角移动靠近抽屉，爪夹合拢抓紧抽屉把手，爪夹保持合拢向爪夹后移动，爪夹将抽屉完全拉出后爪夹张开", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "当前进度爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将右边文件柜最下面的抽屉完全打开的任务应当：爪夹向爪夹前移动同时调整爪夹角度", + "time": 0.990033739854715 + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹角度", + 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0000000000000000000000000000000000000000..02797745f39271beb04dcadf5201fdee26b495c6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-005/observation.images.wrist_image_left/episode_005085.json @@ -0,0 +1,581 @@ +{ + "task_description": "关闭耳机盒。\n爪夹开始移动:0%\n爪夹靠近耳机盒盖子:20%\n爪夹夹起耳机盒盖子:40%\n爪夹移动耳机盒盖子:60%\n爪夹关闭耳机盒:80%\n爪夹松开，成功关闭耳机盒:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向爪夹方向的右侧移动至耳机盒上方，随后调整爪夹，方便爪夹下降靠近耳机盒盖子，爪夹合拢抓取盖子向上抬升，然后向爪夹方向左侧移动，松开爪夹关闭耳机盒，随后合拢爪夹下降靠近耳机盒，向下按动盖子，张开爪夹远离耳机盒。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触耳机盒。\n为完成关闭耳机盒的任务应当:调整爪夹角度向爪夹方向的右侧移动至耳机盒上方，方便爪夹下降靠近耳机盒。", + "time": 1.1333333333333333, + "annotations": { + "bbox_1768799597297": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768799597297_1768802178756_w3csje2gu", + "x": 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"当前状态为爪夹合拢，按动关闭的耳机盒\n为完成关闭耳机盒的任务应当:爪夹张开向上抬升，远离关闭的耳机盒。", + "time": 21, + "annotations": { + "bbox_1768799597297": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768799597297_1768802030559_cvo3xfkcq", + "x": 0.4205, + "y": 0.11555555555555556, + "width": 0.48599999999999993, + "height": 0.8160000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向上抬升。", + "correction_plan": "任务完成。", + "error_success_analysis": "耳机盒关闭，爪夹张开向上抬升远离耳机盒。", + "frame": 698, + "progress": 100, + "progress_explanation": "目前耳机盒关闭，爪夹张开向上抬升，进度提升为100%。", + "state_description": "当前状态为爪夹张开，耳机盒关闭\n已完成关闭耳机盒的任务应。", + "time": 23.28061855670103, + "annotations": { + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768802016384_0z8gd0yku", + "x": 0.7375, + "y": 0.5866666666666667 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768802020000_8d4ij7jem", + "x": 0.6195, + "y": 0.5724444444444445 + } + ] + }, + "bbox_1768799597297": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768799597297_1768802024392_6rjxlv2at", + "x": 0.2465, + "y": 0.07111111111111111, + "width": 0.37200000000000005, + "height": 0.6506666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768799597297", + "name": "耳机盒", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768799603946", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768799609332", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-005/observation.images.wrist_image_left/episode_005342.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-005/observation.images.wrist_image_left/episode_005342.json new file mode 100644 index 0000000000000000000000000000000000000000..3f11572e299f9a0377bce369808826ece1c76766 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-005/observation.images.wrist_image_left/episode_005342.json @@ -0,0 +1,602 @@ +{ + "task_description": "移动茶包到另一个杯子。\n爪夹开始移动:0%\n爪夹靠近茶包:20%\n爪夹夹起茶包:40%\n爪夹移动茶包:60%\n爪夹将茶包放入另一个杯子内:80%\n爪夹松开，茶包落入杯子内:100%", + "progress_points": [ + { + "action_description": "爪夹把持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度向爪夹方向的后方移动，然后下降靠近桌子，再次向爪夹方向后方移动靠近茶包，爪夹夹取茶包向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触茶包，\n为完成移动茶包到另一个杯子里的任务应当:调整爪夹角度向爪夹方向的后方移动，然后下降。", + "time": 0.6078694242268041, + "annotations": { + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805137103_b81l962jw", + "x": 0.7725000000000001, + "y": 0.64 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805140269_swug1jwn7", + "x": 0.45949999999999996, + "y": 0.615111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "爪夹下降靠近桌面，再次向爪夹方向后方移动靠近茶包，爪夹夹取茶包向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹调整角度向爪夹方向后方移动，方便爪夹进一步调整靠进茶包。", + "frame": 24, + "progress": 5, + "progress_explanation": "目前爪夹调整角度向爪夹方向后方移动，方便爪夹进一步调整靠进茶包，进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹向后移动\n为完成移动茶包到另一个杯子里的任务应当:爪夹下降靠近桌面，再次向爪夹方向后方移动靠近茶包，方便爪夹合拢抓取。", + "time": 1.6, + "annotations": { + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805131558_wlov7cgv5", + "x": 0.4575, + "y": 0.6186666666666667 + } + ] + }, + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805133806_gldmruhnr", + "x": 0.7755, + "y": 0.6293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "向爪夹方向后方移动靠近茶包，爪夹夹取茶包向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹下降靠近桌面，方便爪夹进一步向爪夹方向后方移动靠进茶包。", + "frame": 58, + "progress": 10, + "progress_explanation": "目前爪夹下降靠近桌面，方便爪夹进一步箱爪夹方向后方移动靠进茶包，进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹靠近桌面\n为完成移动茶包到另一个杯子里的任务应当:调整爪夹角度，接着向爪夹方向后方移动靠近茶包，方便爪夹合拢抓取。", + "time": 3.8666666666666667, + "annotations": { + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805118334_7ummvmppt", + "x": 0.7735000000000001, + "y": 0.6293333333333333 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805121582_kj77ti154", + "x": 0.4575, + "y": 0.624 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方微微移动。", + "correction_plan": "向爪夹方向后方移动靠近茶包，爪夹夹取茶包向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹向爪夹方向左后方微微移动，方便爪夹进一步向爪夹方向后方移动靠进茶包，合拢抓取。", + "frame": 160, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左后方微微移动，方便爪夹进一步向爪夹方向后方移动靠进茶包，进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹靠近桌面\n为完成移动茶包到另一个杯子里的任务应当:爪夹向爪夹方向后方移动靠近茶包，方便爪夹合拢抓取。", + "time": 5.321958836597938, + "annotations": { + "bbox_1768799597297": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768799597297_1768805111446_d7tdcmreh", + "x": 0.6005, + "y": 0.727111111111111, + "width": 0.07999999999999999, + "height": 0.11555555555555562 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805113646_1lxchq1sm", + "x": 0.45549999999999996, + "y": 0.5955555555555556 + } + ] + }, + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805115846_z5px2meqk", + "x": 0.7655000000000001, + "y": 0.6311111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动。", + "correction_plan": "爪夹夹取茶包向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹向爪夹方向后方移动，成功靠进茶包，方便爪夹合拢抓取。", + "frame": 212, + "progress": 20, + "progress_explanation": "目前爪夹成功靠进茶包，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近茶包\n为完成移动茶包到另一个杯子里的任务应当:爪夹合拢抓取茶包向上抬升。", + "time": 7.058728620103093, + "annotations": { + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805101726_gfjvgjkkv", + "x": 0.7695000000000001, + "y": 0.6026666666666667 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805103430_xg2stxzoa", + "x": 0.4565, + "y": 0.5884444444444444 + } + ] + }, + "bbox_1768799597297": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768799597297_1768805107926_hf90vutvj", + "x": 0.6105, + "y": 0.608, + "width": 0.11200000000000002, + "height": 0.19911111111111113 + } + ] + } + } + }, + { + "action_description": "爪夹微微向爪夹方向右后侧移动合拢夹取茶包。", + "correction_plan": "爪夹向上抬升，向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹合拢成功抓取茶包，方便爪夹向上抬升并开始移动。", + "frame": 277, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取茶包，方便爪夹向上抬升并开始移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成移动茶包到另一个杯子里的任务应当:爪夹向上抬升，然后再向爪夹方向左侧移动靠近白色杯子。", + "time": 9.217285351030927, + "annotations": { + "bbox_1768802867951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768802867951_1768805094727_8ha8hg0cj", + "x": 0.15150000000000002, + "y": 0.6577777777777778, + "width": 0.15099999999999997, + "height": 0.30577777777777776 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805097191_q7k7u92v2", + "x": 0.6035, + "y": 0.5386666666666667 + } + ] + }, + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805099062_w850zoegy", + "x": 0.6295, + "y": 0.5386666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹夹取茶包向上抬升，方便爪夹向爪夹方向左侧移动靠近白色杯子。", + "frame": 163, + "progress": 50, + "progress_explanation": "目前爪夹夹取茶包向上抬升，方便爪夹向爪夹方向左侧移动，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成移动茶包到另一个杯子里的任务应当:爪夹向爪夹方向左侧移动靠近白色杯子。", + "time": 10.866666666666667, + "annotations": { + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805082967_0yo1lwua2", + "x": 0.6115, + "y": 0.5422222222222223 + } + ] + }, + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805085318_5tbikkvp6", + "x": 0.6275000000000001, + "y": 0.5368888888888889 + } + ] + }, + "bbox_1768802867951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768802867951_1768805089056_jzk7a4h5j", + "x": 0.3805, + "y": 0.45688888888888884, + "width": 0.148, + "height": 0.2328888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹持续向上抬升。", + "correction_plan": "爪夹向爪夹方向左侧移动靠近白色杯子，爪夹下降将茶包放入杯子里，爪夹张开，茶包落入白色杯子里。", + "error_success_analysis": "爪夹夹取茶包持续向上抬升远离红色杯子，方便爪夹向爪夹方向左侧移动靠近白色杯子。", + "frame": 193, + "progress": 60, + "progress_explanation": "目前爪夹夹取茶包持续向上抬升远离红色杯子，方便爪夹向爪夹方向左侧移动靠近白色杯子，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成移动茶包到另一个杯子里的任务应当:爪夹向爪夹方向左侧移动靠近白色杯子。", + "time": 12.866666666666667, + "annotations": { + "point_1768799609332": { + "type": "point", + "instances": [ + { + "id": "point_1768799609332_1768805067647_p6ekdst6q", + "x": 0.6255, + "y": 0.544 + } + ] + }, + "point_1768799603946": { + "type": "point", + "instances": [ + { + "id": "point_1768799603946_1768805069695_xdqw8ffzx", + "x": 0.5995, + "y": 0.544 + } + ] + }, + "bbox_1768802867951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768802867951_1768805072855_opfx7c3zj", + "x": 0.4585, + "y": 0.010666666666666666, + "width": 0.11000000000000006, + "height": 0.07644444444444444 + } + ] + }, + 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end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006686.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006686.json new file mode 100644 index 0000000000000000000000000000000000000000..35fd99f5b28d57e9ffa4e115eb94dd9e48d06e07 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-006/observation.images.wrist_image_left/episode_006686.json @@ -0,0 +1,716 @@ +{ + "task_description": "抓取黄色物体放至桌子边缘：\n爪夹准备移动：0%\n爪夹靠近黄色物体：20%\n爪夹抓取黄色物体：40%\n爪夹抓取黄色物体移动至桌面正上方：60%\n爪夹抓取黄色物体垂直下降靠近桌子边缘：80%\n爪夹松开将黄色物体放在桌子边缘：100%", + "progress_points": [ + { + "time": 0.6743561333616822, + "frame": 20, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取黄色物体放至桌子边缘的任务应当：爪夹向爪夹方向右后方移动。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007234.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007234.json new file mode 100644 index 0000000000000000000000000000000000000000..6edb86c30c4cc6ca22536fd30b22fa3b280b499b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007234.json @@ -0,0 +1,739 @@ +{ + "task_description": "把这件运动衫放在桌子上折叠起来，然后再展开它。\n爪夹开始移动:0%\n爪夹靠近衬衫:20%\n爪夹夹起衬衫:40%\n爪夹折叠衬衫:60%\n爪夹展开衬衫:90%\n爪夹松开，成功展开衬衫:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": 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"目前爪夹向爪夹方向前方移动，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向前移动。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：随后爪夹下降至衬衫上方，准备抓取衬衫。", + "time": 4.6, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811287220_71g5eyylp", + "x": 0.5765, + "y": 0.7946666666666666, + "width": 0.296, + "height": 0.1848888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹微微向后移动，合拢抓取衬衫向爪夹方向前方移动折叠，松开爪夹向爪夹方向后方移动，爪夹再次向爪夹方向前方移动靠近衬衫，爪夹夹取衬衫先向爪夹方向右侧移动展开衬衫，在夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹下降，成功靠近衬衫。", + "frame": 97, + "progress": 10, + "progress_explanation": "目前爪夹成功靠近衬衫，方便爪夹合拢夹取衬衫折叠，进度提升为10%。", + "state_description": "当前状态为爪夹打开，靠近衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹微微向后移动靠近衬衫，合拢抓取衬衫向爪夹方向前方移动折叠衬衫。", + "time": 6.466666666666667, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": 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"合拢抓取衬衫向爪夹方向前方移动折叠，松开爪夹向爪夹方向后方移动，爪夹再次向爪夹方向前方移动靠近衬衫，爪夹夹取衬衫先向爪夹方向右侧移动展开衬衫，在夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹合拢成功夹取衬衫，方便爪夹向爪夹方向前方移动折叠。", + "frame": 170, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功夹取衬衫，方便爪夹向爪夹方向前方移动折叠，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹抓取衬衫向爪夹方向前方移动折叠衬衫。", + "time": 11.333333333333334, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811276716_idazjdlhd", + "x": 0.6565000000000001, + "y": 0.7928888888888889, + "width": 0.305, + "height": 0.1742222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹向爪夹方向前方移动折叠，松开爪夹向爪夹方向后方移动，爪夹再次向爪夹方向前方移动靠近衬衫，爪夹夹取衬衫先向爪夹方向右侧移动展开衬衫，在夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹夹取衬衫，成功向爪夹方向前方移动折叠。", + "frame": 193, + "progress": 45, + "progress_explanation": "目前爪夹夹取衬衫向爪夹方向前方移动折叠，进度提升为45%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹抓取衬衫持续向爪夹方向前方移动折叠衬衫。", + "time": 12.866666666666667, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811271948_0lj39p4c2", + "x": 0.6675, + "y": 0.8124444444444445, + "width": 0.262, + "height": 0.14399999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹下降折叠，松开爪夹向爪夹方向后方移动，爪夹再次向爪夹方向前方移动靠近衬衫，爪夹夹取衬衫先向爪夹方向右侧移动展开衬衫，在夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹夹取衬衫持续向爪夹方向前方移动折叠，与上一阶段相比，衬衫折叠程度更大。", + "frame": 212, + "progress": 50, + "progress_explanation": "目前爪夹夹取衬衫持续向爪夹方向前方移动折叠，与上一阶段相比，衬衫折叠程度更大，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹抓取衬衫持续向爪夹方向前方移动折叠衬衫。", + "time": 14.133333333333333, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": 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"correction_plan": "爪夹先向爪夹方向右侧移动展开衬衫，在夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹合拢成功夹取衬衫，方便爪夹向爪夹方向右侧移动展开衬衫。", + "frame": 370, + "progress": 69, + "progress_explanation": "目前爪夹合拢成功夹取衬衫，方便爪夹向爪夹方向右侧移动展开衬衫，进度提升为69%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹向爪夹方向右侧移动将其展开。", + "time": 24.666666666666668, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811217653_t1hhg94q8", + "x": 0.5675, + "y": 0.6773333333333333, + "width": 0.26499999999999996, + "height": 0.2879999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "再夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹夹取衬衫向爪夹方向右侧移动展开衬衫。", + "frame": 392, + "progress": 71, + "progress_explanation": "目前爪夹夹取衬衫向爪夹方向右侧移动展开衬衫，进度提升为71%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：再次调整爪夹向爪夹方向左后方移动夹取衬衫。", + "time": 26.133333333333333, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811213109_xvrdfoubu", + "x": 0.5785, + "y": 0.6311111111111112, + "width": 0.33499999999999996, + "height": 0.3217777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向爪夹方向左后方移动。", + "correction_plan": "爪夹再次夹取衬衫向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹张开，向爪夹方向左后方移动，防变质爪夹再次夹取衬衫移动展开。", + "frame": 412, + "progress": 73, + "progress_explanation": "目前爪夹张开，向爪夹方向左后方移动，方便爪夹再次夹取衬衫移动展开，进度提升为73%。", + "state_description": "当前状态为爪夹张开，靠近衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹下降靠近衬衫，方便爪夹夹取衬衫移动展开。", + "time": 27.466666666666665, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811209509_c9s66uy8b", + "x": 0.6195, + "y": 0.6577777777777778, + "width": 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"爪夹向爪夹方向右前方移动展开，调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹合拢成功抓取衬衫，方便爪夹向爪夹方向右前方移动展开。", + "frame": 476, + "progress": 75, + "progress_explanation": "目前爪夹合拢成功抓取衬衫，方便爪夹向爪夹方向右前方移动展开，进度提升为75%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹夹取衬衫向爪夹方向右前方移动展开。", + "time": 31.733333333333334, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811197229_rtvsgtdju", + "x": 0.5755, + "y": 0.6364444444444445, + "width": 0.313, + "height": 0.32533333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹抓取衬衫，向爪夹方向右前方移动展开。", + "frame": 526, + "progress": 77, + "progress_explanation": "目前爪夹抓取衬衫，向爪夹方向右前方移动展开，进度提升为77%。", + "state_description": "当前状态为爪夹合拢，抓紧衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：调整爪夹将其完全展开。", + "time": 35.06666666666667, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811193965_2a1u8qtej", + "x": 0.5985, + "y": 0.5422222222222223, + "width": 0.26800000000000007, + "height": 0.36088888888888887 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向爪夹方向左侧微微移动", + "correction_plan": "调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹张开，再次调整爪夹角度夹取衬衫。", + "frame": 553, + "progress": 79, + "progress_explanation": "目前爪夹张开，再次调整爪夹角度夹取衬衫，进度提升为79%。", + "state_description": "当前状态为爪夹张开，靠近衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹再次下降夹取衬衫将其完全展开。", + "time": 36.86666666666667, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811190383_8cxu6p4w4", + "x": 0.5925, + "y": 0.5653333333333334, + "width": 0.288, + "height": 0.34311111111111114 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "继续调整爪夹夹取衬衫向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹下降靠近衬衫，方便再次调整爪夹角度夹取衬衫。", + "frame": 593, + "progress": 81, + "progress_explanation": "目前爪夹下降靠近衬衫，方便再次调整爪夹角度夹取衬衫，进度提升为81%。", + "state_description": "当前状态为爪夹张开，靠近衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：继续调整爪夹角度夹取衬衫将其完全展开。", + "time": 39.53333333333333, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811186805_gaoykbveb", + "x": 0.5845, + "y": 0.5546666666666666, + "width": 0.296, + "height": 0.3306666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动", + "correction_plan": "继续调整爪夹下降靠近衬衫，向爪夹方向左侧移动衬衫，最后夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹向爪夹方向右侧移动远离衬衫，与上一阶段相比，爪夹需要重新下降靠近衬衫的动作。", + "frame": 642, + "progress": 79, + "progress_explanation": "目前爪夹向爪夹方向右侧移动远离衬衫，与上一阶段相比，爪夹需要重新下降靠近衬衫的动作，进度倒退为79%。", + "state_description": "当前状态为爪夹张开，远离衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：继续调整爪夹下降靠近衬衫将其完全展开。", + "time": 42.8, + "annotations": { + "bbox_1768811006377": { + "type": 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0.7915, + "y": 0.7555555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹贴着衬衫向爪夹方向左侧移动。", + "correction_plan": "爪夹张开先向爪夹方向左前方移动靠近衬衫，然后向爪夹右前方移动靠近衬衫，夹取衬衫右侧向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹贴着衬衫向爪夹方向左侧移动，方便爪夹向爪夹左前方移动靠近衬衫，合拢抓取。", + "frame": 726, + "progress": 83, + "progress_explanation": "目前爪夹贴着衬衫向爪夹方向左侧移动，方便爪夹向爪夹右前方移动靠近衬衫，进度提升为83%。", + "state_description": "当前状态为爪夹合拢，贴着衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹张开向爪夹方向左前方移动靠近衬衫。", + "time": 48.4, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811166791_c6sxyw51i", + "x": 0.5625, + "y": 0.6826666666666666, + "width": 0.3200000000000001, + "height": 0.28977777777777775 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "爪夹合拢夹取衬衫右侧，向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹向爪夹左前方移动，方便爪夹夹取衬衫向爪夹右前方移动。", + "frame": 1529, + "progress": 85, + "progress_explanation": "目前爪夹向爪夹左前方移动，进度提升为85%。", + "state_description": "当前状态为爪夹张开，靠近衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹合拢抓取衬衫。", + "time": 50.97536053144329, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811162686_yyd8z1jy4", + "x": 0.5645, + "y": 0.6773333333333333, + "width": 0.29799999999999993, + "height": 0.30222222222222217 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取衬衫。", + "correction_plan": "爪夹向爪夹方向右前方移动展开衬衫。", + "error_success_analysis": "爪夹合拢成功抓取衬衫，方便爪夹向爪夹方向右前方移动将其展开。", + "frame": 791, + "progress": 87, + "progress_explanation": "目前爪夹合拢成功抓取衬衫，方便爪夹向爪夹方向右前方移动将其展开，进度提升为87%。", + "state_description": "当前状态为爪夹合拢，抓取衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹抓取衬衫向爪夹方向右前方移动。", + "time": 52.733333333333334, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811159262_h07izgpig", + "x": 0.5705, + "y": 0.6844444444444444, + "width": 0.258, + "height": 0.27377777777777773 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹向上抬升，远离衬衫。", + "error_success_analysis": "爪夹抓取衬衫，成功向爪夹方向右前方移动将其展开。", + "frame": 1630, + "progress": 90, + "progress_explanation": "目前爪夹抓取衬衫，成功向爪夹方向右前方移动将其展开，进度提升为90%。", + "state_description": "当前状态为爪夹合拢，展开衬衫。\n为完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务应当：爪夹向上抬升，远离衬衫。", + "time": 54.31996532319587, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811006377_1768811154782_enwt3xtlt", + "x": 0.5575, + "y": 0.6506666666666667, + "width": 0.31700000000000006, + "height": 0.30755555555555547 + } + ] + } + } + }, + { + "action_description": "爪夹张开向上抬升。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，向上抬升远离衬衫。", + "frame": 852, + "progress": 100, + "progress_explanation": "目前爪夹已成功将衬衫展开，进度提升为100%。", + "state_description": "当前状态为爪夹张开，远离衬衫。\n已完成把这件运动衫放在桌子上折叠起来，然后再展开它的任务。", + "time": 56.8, + "annotations": { + "bbox_1768811006377": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007816.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007816.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfe9534acc08a970e152b9f1dee5fbf5b277a55 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007816.json @@ -0,0 +1,645 @@ +{ + "task_description": "用爪夹打开书页：\n准备开始移动：0%\n爪夹接近近书：20%\n爪夹靠近书侧面：40%\n爪夹向上带动书页：60%\n爪夹带动书页至书打开：80%\n爪夹松开书完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方移动下降，来到书右侧边缘正上方。爪夹垂直下降贴近书边缘，爪夹垂直升高并向爪夹左方移动，带动书页打开。推动书页继续向爪夹左方移动下降至书页完全打开。爪夹松开书完全打开。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.wrist_image_left/episode_007256.json new file mode 100644 index 0000000000000000000000000000000000000000..1b8970407a3b0e544201d2ce8fa740bde08d4642 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-007/observation.images.wrist_image_left/episode_007256.json @@ -0,0 +1,501 @@ +{ + "task_description": "关闭底下柜子的柜门：\n准备开始移动：0%\n爪夹接近柜门：20%\n爪夹贴近柜门：40%\n爪夹开始推动柜门：60%\n爪夹推动柜门至柜门关闭：80%\n爪夹松开柜门完全关闭：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左后方移动下降，来到柜门外侧贴近柜门。爪夹贴近后开始向爪夹右后方推动柜门，推动柜门至柜门关闭。爪夹松开，柜门完全关闭。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，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为完成关闭底下柜子的柜门的任务应当：爪夹向爪夹左后方移动下降，来到柜门外侧贴近柜门。", + "time": 0.604866, + "annotations": { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008433.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008433.json new file mode 100644 index 0000000000000000000000000000000000000000..c22d700ad50ee2de0952cd8bc093a885fadc6fbf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008433.json @@ -0,0 +1,538 @@ +{ + "task_description": "抓起蓝色袋子移动到左侧平台：\n准备开始移动：0%\n爪夹靠近蓝色袋子：20%\n爪夹抓取蓝色袋子：40%\n爪夹抓紧蓝色袋子接近左侧平台：60%\n爪夹将蓝色袋子靠近左侧平台：80%\n爪夹松开蓝色袋子落入左侧平台：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "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，远离蓝色袋子，未开始移动。\n为完成抓起蓝色袋子移动到左侧的任务应当：爪夹向爪夹正前方移动并垂直下降，来到蓝色袋子正上方，垂直下降靠近袋子。", + 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} + ] + } + } + }, + { + "time": 27.621733, + "frame": 829, + "progress": 100, + "action_description": "爪夹张开垂直升高", + "state_description": "爪夹张开，爪夹接近平行于桌面。\n抓起蓝色袋子移动到左侧的任务目标完成。", + "progress_explanation": "爪夹松开蓝色袋子落入左侧平台。因此进度提升为100%。", + "error_success_analysis": "爪夹松开，蓝色袋子落到平台上。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768620458432": { + "type": "point", + "instances": [ + { + "id": "point_1768620458432_1768620672847_7bfcn8q77", + "x": 0.7175, + "y": 0.368 + } + ] + }, + "point_1768620463496": { + "type": "point", + "instances": [ + { + "id": "point_1768620463496_1768620674617_fbb6mpttc", + "x": 0.7384999999999999, + "y": 0.46222222222222226 + } + ] + }, + "bbox_1768620443772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768620443772_1768620679267_hudn7ojry", + "x": 0.5505, + "y": 0.6026666666666667, + "width": 0.3500000000000001, + "height": 0.3893333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768620443772", + "name": "蓝色袋子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768620468991", + "name": "平台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768620458432", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768620463496", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008752.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008752.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008752.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.wrist_image_left/episode_008194.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.wrist_image_left/episode_008194.json new file mode 100644 index 0000000000000000000000000000000000000000..f035b48a1f7d6a2740a9dc60074979b3d62805c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-008/observation.images.wrist_image_left/episode_008194.json @@ -0,0 +1,441 @@ +{ + "task_description": "抓起肥皂瓶放到厨房柜台上。\n准备开始移动：0%\n靠近肥皂瓶：25%\n合拢爪夹：50%\n抓取肥皂瓶移动到厨房柜台上：75%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。爪夹向左前方移动到柜台上方，松开爪夹，放置肥皂瓶。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前为初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，未接近肥皂瓶。\n为完成抓取肥皂瓶方到厨房柜台的任务应当：向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。", + "time": 0.31624224538698525, + "annotations": { + "point_1768809928455": { + "type": "point", + "instances": [ + { + "id": "point_1768809928455_1768809944597_cu3v3hkc5", + "x": 0.4436665988973023, + "y": 0.6762222086588542 + } + ] + }, + "point_1768809928675": { + "type": "point", + "instances": [ + { + "id": "point_1768809928675_1768809946482_zypuv5rs6", + "x": 0.7576665797322644, + "y": 0.6602222086588542 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。爪夹向左前方移动到柜台上方，松开爪夹，放置肥皂瓶。", + "error_success_analysis": "爪夹向右下方移动，方便接近肥皂瓶。", + "frame": 19, + "progress": 10, + "progress_explanation": "爪夹向右下方移动，接近肥皂瓶，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹向右下方移动，略微缩短了与肥皂瓶的距离。\n为完成抓取肥皂瓶方到厨房柜台的任务应当：向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。", + "time": 1.2666666666666666, + "annotations": { + "point_1768809928455": { + "type": "point", + "instances": [ + { + "id": "point_1768809928455_1768809951730_4yjihhvlv", + "x": 0.4476665986531617, + "y": 0.6566666531032986 + } + ] + }, + "point_1768809928675": { + "type": "point", + "instances": [ + { + "id": "point_1768809928675_1768809954225_b44izo1nb", + "x": 0.7556665798543347, + "y": 0.6619999864366319 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "爪夹向爪夹后方移动到肥皂瓶正上方，合拢爪夹夹紧肥皂瓶向左前方移动到厨房柜台正上方，松开爪夹放置肥皂瓶。", + "error_success_analysis": "爪夹向右下方移动，方便抓取肥皂瓶。", + "frame": 82, + "progress": 15, + "progress_explanation": "爪夹向爪夹右后方移动，接近肥皂瓶，因此进度提升到15%。", + "state_description": "爪夹张开，爪夹缩短了与肥皂瓶的距离，爪夹略微倾斜于地面。\n为完成抓取肥皂瓶方到厨房柜台的任务应当：向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。", + "time": 2.7438708988192593, + "annotations": { + "point_1768809928455": { + "type": "point", + "instances": [ + { + "id": "point_1768809928455_1768809961266_2tjd44rb0", + "x": 0.445666598775232, + "y": 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+ }, + { + "action_description": "爪夹松动。", + "correction_plan": "调整爪夹垂直于地面，向后移动爪夹，靠近肥皂瓶，合拢爪夹抓取肥皂瓶。爪夹向左前方移动到柜台上方，松开爪夹，放置肥皂瓶。", + "error_success_analysis": "爪夹未抓紧肥皂瓶，导致肥皂瓶掉落屏幕外，需重新抓取。", + "frame": 202, + "progress": -50, + "progress_explanation": "爪夹松动，肥皂瓶掉落地面，需重新抓取肥皂瓶，因此进度降低到-50%。", + "state_description": "爪夹松开，肥皂瓶掉落地面，爪夹与地面呈45度。\n为完成抓取肥皂瓶方到厨房柜台的任务应当：调整爪夹与地面垂直，然后移动到肥皂瓶正上方。", + "time": 13.466666666666667, + "annotations": { + "point_1768809928455": { + "type": "point", + "instances": [ + { + "id": "point_1768809928455_1768810120100_v9y9srs5j", + "x": 0.48566659633382586, + "y": 0.6211110975477431 + } + ] + }, + "point_1768809928675": { + "type": "point", + "instances": [ + { + "id": "point_1768809928675_1768810121934_ijxbo7x4j", + "x": 0.7036665830281625, + "y": 0.6317777642144097 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768809923738", + "name": "肥皂瓶", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768809928455", + "name": 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"爪夹向左下方移动到白色瓶子的正上方，向下移动爪夹靠近白色瓶子，合拢爪夹抓取白色瓶子，向正上方移动爪夹，提升高度，爪夹向后移动，松开爪夹，放置白色瓶子。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，远离白色瓶子。\n为完成抓取白色瓶子略微移动的任务应当：爪夹向左下方移动到白色瓶子的正上方，向下移动爪夹靠近白色瓶子，合拢爪夹抓取白色瓶子，向正上方移动爪夹，提升高度，爪夹向后移动，松开爪夹，放置白色瓶子。", + "time": 0.9308127261510648, + "annotations": { + "bbox_1768810213985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810213985_1768810256466_2uk4yz78y", + "x": 0.27366660927327824, + "y": 0.36688887532552084, + "width": 0.10999999328613322, + "height": 0.14755555555555558 + } + ] + }, + "point_1768810214658": { + "type": "point", + "instances": [ + { + "id": "point_1768810214658_1768810258656_4w4slmd6m", + "x": 0.4436665988973023, + "y": 0.6548888753255209 + } + ] + }, + "point_1768810214809": { + "type": "point", + "instances": [ + { + "id": "point_1768810214809_1768810269417_ti70md3mu", + "x": 0.7586665796712292, + "y": 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0000000000000000000000000000000000000000..46ecf88117945e006a35136480864987ea78577a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009549.json @@ -0,0 +1,878 @@ +{ + "task_description": "调整杯子位置并把笔放到杯子里。\n准备开始移动：0%\n爪夹抓取杯子：25%\n爪夹放置杯子：50%\n爪夹抓取钢笔：75%\n爪夹放置钢笔：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向前下方移动到杯子正上方，合拢爪夹夹取杯子，向前方移动杯子并放置到桌面上。爪夹向右后方移动到笔的正上方，落下爪夹，爪夹合拢，向左前方移动爪夹到杯子正上方，调整爪夹角度，把笔放入杯子里。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度未0%。", + "state_description": "爪夹处于初始状态，远离杯子，未开始移动。\n为了完成调整杯子位置并把笔放入杯子中的任务应当：爪夹向前下方移动到杯子正上方，合拢爪夹夹取杯子，向前方移动杯子并放置到桌面上。", + "time": 0.530605840387665, + "annotations": { + "bbox_1768810352766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810352766_1768810377309_qus77574y", + "x": 0.576666590779627, + "y": 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"id": "point_1768810362710", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009625.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009625.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc9bac0100d03c37cdbef6222391fe2874bcb85 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009625.json @@ -0,0 +1,365 @@ +{ + "task_description": "把马克笔从杯子里取出。\n准备开始移动：0%\n爪夹靠近马克笔：25%\n爪夹抓取马克笔：50%\n爪夹移动马克笔：75%\n爪夹松开马克笔：100%。", + "progress_points": [ + { + "action_description": "爪夹未开始移动。", + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.wrist_image_left/episode_009787.json @@ -0,0 +1,448 @@ +{ + "task_description": "打开柜子门。\n准备开始移动：0%\n爪夹靠近柜门把手：20%\n爪夹夹紧柜门把手：40%\n爪夹拉动柜门把手：60%\n爪夹推动柜门把手：80%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "向上后方移动，调整爪夹角度，靠近柜门把手，夹紧柜门把手，向正前方移动拉开柜门，向左移动到柜门另一侧，合拢爪夹向右侧推动柜门，张开爪夹。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹处于初始状态，未开始移动，爪夹远离柜门。\n为完成爪夹抓取柜门把手打开柜子门的任务应当：向上后方移动，调整爪夹角度，靠近柜门把手，夹紧柜门把手，向正前方移动拉开柜门，向左移动到柜门另一侧，合拢爪夹向右侧推动柜门，张开爪夹。", + "time": 0.30579555225405025, + "annotations": { + "point_1768811183001": { + "type": "point", + "instances": [ + { + "id": "point_1768811183001_1768811260086_9y1tok1ke", + "x": 0.46266659773763436, + "y": 0.6531110975477431 + }, + { + "id": "point_1768811183001_1768811261750_88cgd2oec", + "x": 0.7676665791219128, + "y": 0.6406666531032986 + } + ] + } + } + }, + { + "action_description": "爪夹向上后方移动。", + "correction_plan": "调整爪夹角度，靠近柜门把手，夹紧柜门把手，向正前方移动拉开柜门，向左移动到柜门另一侧，合拢爪夹向右侧推动柜门，张开爪夹。", + "error_success_analysis": "爪夹向上后方移动，方便接近柜门把手。", + "frame": 35, + "progress": 10, + "progress_explanation": "爪夹向正上方移动，方便调整角度接近柜门，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹向后上方移动，未接近柜门把手。\n为完成爪夹抓取柜门把手打开柜子门的任务应当：调整爪夹角度，靠近柜门把手，夹紧柜门把手，向正前方移动拉开柜门，向左移动到柜门另一侧，合拢爪夹向右侧推动柜门，张开爪夹。", + "time": 2.3333333333333335, + "annotations": { + "bbox_1768811182441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811182441_1768811271534_gf6ey5uzo", + "x": 0.4956665957234743, + "y": 0.22999998643663197, + "width": 0.4929999699096698, + "height": 0.7342222222222222 + } + ] + }, + "point_1768811183001": { + "type": "point", + "instances": [ + { + "id": "point_1768811183001_1768811273630_x88li3ng4", + "x": 0.46166659779866953, + "y": 0.6442222086588542 + } + ] + }, + "point_1768811183137": { + "type": 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0000000000000000000000000000000000000000..5406daa7c38f65bd4505c4ecbef13d6ba2c37a02 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0008/annotations/chunk-009/observation.images.wrist_image_left/episode_009964.json @@ -0,0 +1,377 @@ +{ + "task_description": "向左侧移动绿色杯子。\n准备开始移动：0%\n爪夹靠近绿色杯子：25%\n爪夹抓取绿色杯子：50%\n爪夹移动绿色杯子：75%\n爪夹松开杯子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右下方移动到绿色杯子的正上方，合拢爪夹夹取绿色杯子，向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度未0%。", + "state_description": "爪夹张开，未开始移动，远离绿色杯子。\n为完成抓取绿色杯子并向左移动的任务应当：\n爪夹向右下方移动到绿色杯子的正上方，合拢爪夹夹取绿色杯子，向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "time": 1.0545468187778861, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811396787_byqpekzx4", + "x": 0.654666586018885, + "y": 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6.702725274718654, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811412082_08fkptmna", + "x": 0.5466665926106816, + "y": 0.1055555419921875, + "width": 0.24599998498535242, + "height": 0.5866666666666667 + } + ] + }, + "point_1768811372988": { + "type": "point", + "instances": [ + { + "id": "point_1768811372988_1768811413618_5n0nartpj", + "x": 0.45166659840902107, + "y": 0.6708888753255209 + } + ] + }, + "point_1768811373132": { + "type": "point", + "instances": [ + { + "id": "point_1768811373132_1768811415490_q1l1lujc3", + "x": 0.7636665793660534, + "y": 0.6513333197699653 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "合拢爪夹夹取绿色杯子，向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "error_success_analysis": "爪夹向下移动，接近绿色杯子，方便抓取。", + "frame": 247, + "progress": 25, + "progress_explanation": "爪夹靠近杯子正上方，方便抓取，因此进度提升到25%。", + "state_description": "爪夹张开，垂直于桌面，位于绿色杯子的正上方。\n为完成抓取绿色杯子并向左移动的任务应当：合拢爪夹夹取绿色杯子，向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "time": 8.24313758088432, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811424090_b26f040l7", + "x": 0.6166665883382209, + "y": 0.1873333197699653, + "width": 0.3799999768066421, + "height": 0.7448888888888889 + } + ] + }, + "point_1768811372988": { + "type": "point", + "instances": [ + { + "id": "point_1768811372988_1768811426106_63tc2yny6", + "x": 0.4546665982259156, + "y": 0.6726666531032985 + } + ] + }, + "point_1768811373132": { + "type": "point", + "instances": [ + { + "id": "point_1768811373132_1768811427906_qs92g20z8", + "x": 0.759666579610194, + "y": 0.6566666531032986 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "error_success_analysis": "爪夹合拢，抓取到绿色杯子，方便移动。", + "frame": 288, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到绿色杯子，因此进度提升到50%。", + "state_description": "爪夹合拢，抓紧绿色杯子。\n为完成抓取绿色杯子并向左移动的任务应当：向上移动爪夹，提升绿色杯子高度，向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "time": 9.5918, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811433202_2uc1330hb", + "x": 0.5256665938924198, + "y": 0.1695555419921875, + "width": 0.37099997735595835, + "height": 0.6275555555555556 + } + ] + }, + "point_1768811372988": { + "type": "point", + "instances": [ + { + "id": "point_1768811372988_1768811440826_0o555795o", + "x": 0.5816665904744512, + "y": 0.5588888753255209 + } + ] + }, + "point_1768811373132": { + "type": "point", + "instances": [ + { + "id": "point_1768811373132_1768811443858_j39ym7aln", + "x": 0.6196665881551154, + "y": 0.5588888753255209 + } + ] + } + } + }, + { + "action_description": "爪夹向正上方移动。", + "correction_plan": "向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "error_success_analysis": "爪夹合拢，并上升到一定的高度，方便移动。", + "frame": 182, + "progress": 60, + "progress_explanation": "爪夹夹紧绿色杯子，向上移动，因此进度提升到60%。", + "state_description": "爪夹合拢，夹紧绿色杯子，爪夹垂直于桌面。\n为完成抓取绿色杯子并向左移动的任务应当：向左移动爪夹，松开爪夹放置绿色杯子到桌面上。", + "time": 12.133333333333333, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811449065_qmcuwmwm4", + "x": 0.4756665969441774, + "y": 0.1802222086588542, + "width": 0.3769999769897475, + "height": 0.5813333333333334 + } + ] + }, + "point_1768811372988": { + "type": "point", + "instances": [ + { + "id": "point_1768811372988_1768811450881_i63kv1mm3", + "x": 0.576666590779627, + "y": 0.5606666531032987 + } + ] + }, + "point_1768811373132": { + "type": "point", + "instances": [ + { + "id": "point_1768811373132_1768811452643_151yuntjv", + "x": 0.62266658797201, + "y": 0.5553333197699654 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "松开爪夹放置绿色杯子到桌面上。", + "error_success_analysis": "爪夹夹紧绿色杯子向左移动，方便放置。", + "frame": 432, + "progress": 75, + "progress_explanation": "爪夹抓取绿色杯子，向左侧移动，因此进度提升到75%。", + "state_description": "爪夹合拢，抓紧绿色杯子，爪夹垂直于桌面。\n为完成抓取绿色杯子并向左移动的任务应当：松开爪夹放置绿色杯子到桌面上。", + "time": 14.388223232362398, + "annotations": { + "bbox_1768811372452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811372452_1768811456968_7mawwm4wg", + "x": 0.478666596761072, + "y": 0.22288887532552085, + "width": 0.3199999804687511, + "height": 0.5937777777777777 + } + ] + }, + "point_1768811372988": { + "type": "point", + "instances": [ + { + "id": "point_1768811372988_1768811458857_ai1bvmgmq", + "x": 0.5866665901692755, + "y": 0.5677777642144097 + } + ] + }, + "point_1768811373132": { + "type": "point", + "instances": [ + { + "id": "point_1768811373132_1768811460682_j8ipo021r", + "x": 0.6266665877278694, + "y": 0.5642222086588542 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，绿色杯子落到桌面上。", + "frame": 482, + "progress": 100, + "progress_explanation": "爪夹张开，绿色杯子落到桌面上，因此进度提升到100%。", + 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